CN103702621B - There is the robotically-driven surgical instruments of electron beam driver - Google Patents

Abstract

The invention provides and a kind of be applicable to abdominal cavity mirror and the surgical cutting of endoscope type clinical operation and suture instruments, described apparatus tissue is clamped in anvil block pivotally relative to elongated passageway end effector in.Various embodiments are attached to robot system to receive the actuating/control motion from described robot system with being operable to.

Description

There is the robotically-driven surgical instruments of electron beam driver

Background technology

The cross reference of related application

Present patent application is to authorize Shelton, and it is entitled that the 3 days October in 2006 of IV et al. submits to “ARTICULATING SURGICAL STAPLING INSTRUMENT INCORPORATING A TWO-PIECE E-BEAM FIRING MECHANISM " the part continuation application of U.S. Patent Application Serial Number 11/538,154 and claimed, This patent application is to authorize entitled " the SURGICAL STAPLING that in the Decembers, 2005 of Shelton et al. are announced on the 27th INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM " U.S. Patent Application Serial Number 10/ 443,617(present United States Patent (USP)s 6,978,921) continuation in part patent application, the disclosure of described patent application is each It is incorporated by reference in its entirety accordingly.

Technical field

Present invention relates generally to be applicable to endoscope type and insert the end execution activated by the firing member of zigzag tread patterns The surgical instruments of device, more particularly, relates to surgical stapling and the cut-out apparatus with articulating shaft.

Background technology

Endoscopic surgical apparatus is typically superior to traditional open surgical device, because less otch often reduces Post-operative recovery time and complication.Therefore, have been for being suitable to accurately be placed distal end effector by intubating of the trocar A series of endoscopic surgical apparatuses in required surgical site have carried out significant exploitation.These distal end effector with Various ways engages tissue to realize diagnosis or therapeutic effect (e.g., straight cuts device, grasper, sickle, stiching instrument, clamp Device, entrance device, medicine/gene are treated delivery apparatus and utilize the energy device of ultrasound wave, radio frequency, laser etc.).

Retaining tips executor is constrained by the trocar.In general, these endoscopic surgical apparatuses include that end is held Major axis between row device and the handle portions handled by clinician.This major axis makes to can be plugged into desired depth and around axle Longitudinal axis rotate, thus retaining tips executor to a certain extent.Place the trocar by correct and use grasper, Such as through another trocar, the location of usual this degree is enough.Surgical stapling and cut off apparatus, such as United States Patent (USP) 5, Described in 465,895, being the example of endoscopic surgical apparatus, described endoscopic surgical apparatus makes by inserting and rotate End effector successfully positions.

Recently, be incorporated by reference in its entirety authorize Shelton et al. on May in 2003 20 submit to entitled The U.S. of " SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM " Patent 10/443,617 describes for cutting off tissue and activating " electron beam " trigger shaft of the improvement followed closely.In additional advantage Some include the jaw of the most spaced apart end effector, or more particularly nail uses assembly, even for most preferably following closely shaping For clamped the most too much or very few tissue.Additionally, electron beam trigger shaft engagement end portion executor and nail in some way Storehouse, the method makes it possible to comprise some favourable lockings.

According to the character of operation, the location of the end effector adjusting endoscopic surgical apparatus further is probably favorably 's.Specifically, end effector is oriented in and is typically at the axis of the longitudinal axis of the described axle of described apparatus Favourable.End effector relative is commonly referred to " joint motions " in the transverse movement of apparatus axis.This is generally tight by being placed on Pivot (or joint motions) joint that adjacent nail is used in the outrigger shaft of assembly realizes.This allows a surgeon to remotely make Nail is used assembly and is carried out joint motions to either side, to realize the more preferable surgical placement of nail row and easier tissue manipulation And orientation.These joint motions location allows the clinician to the most more easily engage (such as after organ) Tissue.Additionally, joint motions location advantageously enables endoscope be positioned at after end effector not by apparatus axis Stop.

Surgical stapling and cut-out apparatus is made to carry out the method for joint motions often because procedure below becomes complicated: to be transported in joint Dynamic controlling is integrated to clamp tissue with the control of Guan Bi end effector, and at the minor diameter restriction model of endoscope type apparatus Enclose interior percussion end effector (that is, sew up and cut off).In general, three control motions are all passed as longitudinal translation by axle Pass.Such as, United States Patent (USP) 5,673,840 disclose a kind of accordion like articulation mechanism (" flexure cervical region "), and it is by choosing The one in two connecting rods being retracted by execution axle and carry out joint motions to selecting property, each bar is respectively at shaft centre line Opposite side upper offset.Connecting rod passes the site of series of discrete with ratcheting manner.

Another longitudinally controlled example of articulation mechanism is United States Patent (USP) 5,865,361, and described patent includes closing Joint motion couplings, this connector biases from jack-up pivot so that promote or the longitudinal translation of tractive articulation link is real Now carry out joint motions to respective side.Similarly, United States Patent (USP) 5,797,537 disclose a kind of similar bar, and described bar passes Axle is to realize joint motions.

Authorizing entitled " the SURGICAL INSTRUMENT of Frederick E.Shelton IV et al. INCORPORATING AN ARTICULATION MECHANISM HAVING ROTATION ABOUT THE LONGITUDINAL AXIS " CO-PENDING and the U.S. Patent Application Serial Number 10/615 owned together, in 973, described specially The disclosure of profit application is the most incorporated accordingly, uses rotary motion to pass as the alternative form of lengthwise movement Pass joint motions action.

At entitled " the SURGICAL STAPLING that the 20 days Mays in 2003 authorizing Shelton et al. submit to INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM " patent application serial number 10/443, In 617, the disclosure of described patent application is incorporated by reference in its entirety before this, it is adaptable to abdominal cavity mirror and endoscope type face Surgical interruption and the suture instruments of bed operation tissue is clamped in anvil block pivotally relative to the end effector of elongated passageway In.Nail and is driven to the every side of otch through the end effector of clamping with cutting tissue by electron beam trigger shaft in distal movement On.Electron beam trigger shaft, is particularly pressing from both sides the most spaced apart with elongated passageway for anvil block to guarantee the Guan Bi nail correctly shaped The tissue mass held is not enough to time spaced apart for end effector.Specifically, the upper pin lengthwise movement of trigger shaft passes anvil block Slit and passage slot capture between the lower cover and intermediate pin of trigger shaft to guarantee minimum spacing.Although this electron beam hits Send out bar and there is multiple advantage, but supplementary features are for strengthening manufacturability and minimizing size modification and be also advantageous.

Therefore, significantly needing the surgical instruments with trigger shaft, described trigger shaft advantageously ensures that the tight of end effector Contracting jaw between suitable spacing and be conducive to its axle joint motions.

Summary of the invention

The present invention is by providing firing lock to overcome the above and other defect of prior art, and described firing lock will outward The end effector that apparatus was sewed up and cut off in section is the most vertically spaced.Thus, apparatus structurally guarantees enough spacing To realize correct stitching, the most such in the case of even clamping very few tissue in end effector.These structures are overall Ground is formed as including when the electron beam of cutting blade achieves electron beam percussion through end effector (such as cutting off and suturing assembly) Consistent spacing and performance.Surgery device is made it addition, enhanced at proximal attachment to electron beam by the most thinning trigger shaft Tool carries out the purposes in terms of joint motions, the transverse cross-sectional area wherein reduced and the energy that can bend in joint motions plane Power is favourable.

In one aspect of the invention, surgical instruments includes that handle portions, described handle portions are operable to produce cause The percussion campaign of dynamic executable portion.This executable portion has elongated passageway, and described elongated passageway accommodates the anvil block with pivotal attachment Relative nail bin.Cutting blade that the distally that percussion lock includes longitudinally receiving between elongated passageway and anvil block is arranged, engageable arrive The upper component of anvil channel, engage the lower member of passage slot and be operable to activate the middle structure of wedge-shaped slides Part, described intermediate member is integrated with nail bin.Intermediate member advantageously resists the deflation of end effector, thus even when Also ensure that when clamping too small amount of tissue that correct nail shapes.These intervals and cutting structure are advantageously formed as electron beam, with Time provide for the flexibility of joint motions by being attached to the thinning trigger shaft of electron beam.

In terms of another entirety of at least one embodiment in the present invention, it is provided that a kind of surgical instruments, described outside Section's apparatus includes executable portion, and the percussion campaign being applied thereto from robot system is carried out by this executable portion.In various realities Executing in example, executable portion includes elongated passageway, and it is thin that this elongated passageway can be attached to operationally to join with robot system Major axis and include passage slot.Nail bin is accommodated and comprises proximally-oriented tapered member, described wedge shape structure by elongated passageway Part is aligned to the driver of upwards jack-up support nail.Anvil block is pivotally coupled to elongated passageway and includes having vertical slit Anvil channel, described vertical slit is inwardly opened along the longitudinal axis of anvil block.Anvil block also includes left rectangular prism configuration groove With right rectangular prism configuration groove, described left rectangular prism configuration groove connects with vertical slit with right rectangular prism configuration groove, by erecting Straight slit to point and transverse to vertical slit, the most left rectangular prism configuration groove and right rectangular prism configuration groove substantially along Vertically the longitudinal length of slit extends.Various embodiments also include percussion lock, and this percussion lock includes the cutting blade that distally is arranged, Described cutting blade longitudinally receives between the vertical slit of the anvil channel of elongated passageway and anvil block.Various embodiments also include top Component, described upper component is made up of left upper portion pin and right upper portion pin, described upper pin be dimensioned so as to slide Ground engages the left rectangular recess of anvil channel and the upper inside surface of right rectangular recess and lower inner surface.Various embodiments are also wrapped Include and engage the lower member of passage slot and be operable to by making the tapered member of nail bin activate nail bin towards distal translation Intermediate member.In various embodiments, percussion lock is securely engaged elongated passageway and anvil in longitudinally percussion traveling process Both seats, follow closely shaping to provide spacing to be used between the two.During percussion, the joint of percussion lock keeps elongated passageway and anvil Vertical spacing between Zuo, and for resisting the deflation caused owing to the tissue of clamping is not enough and due to the tissue of clamping Excess and partially opening of causing.

Another general aspect according to an embodiment of the invention, it is provided that a kind of surgical instruments, described surgical instruments bag Including executable portion, the percussion campaign from robot system in communication is responded by this executable portion.Executable portion Size is diametrically set for endo-surgical purposes, and the executable portion of at least one form includes elongated logical Road, described elongated passageway is connected to the slender axles operationally joined with robot system.Elongated passageway has passage slot And anvil block is pivotally coupled to elongated passageway.Anvil block closes being produced by robot system and being applied to anvil block by slender axles Resultant motion responds.Anvil block includes anvil channel.In at least one embodiment, executable portion also includes percussion lock, institute Stating the cutting blade that percussion lock includes that distally is arranged, described cutting blade longitudinally receives between elongated passageway and anvil block.Percussion lock energy During enough being longitudinally travelled between anvil block with elongated passageway anvil block is the most spaced apart with elongated passageway, wherein fire dress Putting can be by including upper component and by anvil block and elongated passageway during being longitudinally travelled between anvil block and elongated passageway The most spaced apart, described upper component has the upper and lower surface being slidably engaged anvil block in the vertical.

Another general aspect of at least one embodiment according to the present invention, it is provided that a kind of surgical instruments, described outside Section's apparatus includes that robot system, described robot system are operable to produce the multiple control motions including percussion motion. Embodiment also includes that the executable portion to firing motion from robot system responds.In various embodiments, perform Part includes being connected to robot system and including the elongated passageway of passage slot.Nail bin is accommodated by elongated passageway and comprises Proximally-oriented tapered member, described tapered member is aligned to the driver of upwards jack-up support nail.Anvil block is pivotally coupled To elongated passageway and include anvil channel.Embodiment includes that percussion lock, described percussion lock have the cutting blade that distally is arranged, Described cutting blade longitudinally receives between elongated passageway and anvil block.Upper component is engageable to anvil channel, and lower member connects Close passage slot.Intermediate member is operable to by making the sword component of nail bin activate nail bin towards distal translation.Percussion lock Elongated passageway and anvil block can be securely engaged in longitudinally percussion traveling process, follow closely to provide spacing to be used between the two Shape.Actuated articulation joints is connected to elongated passageway and thinning percussion bar at proximal attachment to percussion lock at nearside, with For the percussion from robot system being moved through actuated articulation joints transmission.

Should be apparent by accompanying drawing and explanation thereof, these and other targets of the present invention and advantage.

Accompanying drawing explanation

The accompanying drawing being incorporated to and constitute this specification a part of shows embodiments of the invention, and with as given above Summary of the invention together with detailed description of the invention given below for explaining the principle of the present invention.

Fig. 1 is that the endoscopic surgical carrying out surgical stapling and cut-out under opening, without joint kinestate is sewed up The perspective view of apparatus；

Fig. 2 is the front, left perspective view that assembly used by the open nail of the surgery suturing appliance of Fig. 1, the most replaceable nail bin Right half part is included in nail passage；

Fig. 3 is the decomposition diagram that assembly used by the nail of Fig. 2, and this assembly has complete replaceable nail bin and available The axle configuration without joint motions；

Fig. 4 is two-piece type cutter and the perspective view of trigger shaft (" electron beam ") that assembly used by the nail of Fig. 2；

Fig. 5 is the perspective view that the wedge-shaped slides of the nail bin of assembly used by the nail of Fig. 1；

Fig. 6 is to use, along the nail of Fig. 2, the left view that the centrage 6-6 longitudinal cross-section of assembly intercepts；

Fig. 7 is the perspective view that assembly used by the open nail of Fig. 2, and described assembly does not have replaceable nail bin, nail passage The neighbouring two-piece type cutter of a part and the intermediate pin of trigger shaft, and not there is the distal part of nail passage；

Fig. 8 is the anterior elevational view of the line 8-8 cross section taken using assembly along the nail of Fig. 2, it is shown that the inside of nail bin Staple drivers and two-piece type cutter and the part of trigger shaft；

Fig. 9 is that the longitudinal axis of the line 6-6 that assembly used by the Guan Bi nail approximately along Fig. 2 intercepts left view, to include two Center contact point between part formula cutter and wedge-shaped slides, and lateral offset is to illustrate the nail in nail bin and staple drivers；

Figure 10 is thin portion, the left side front view that assembly used by the nail of Fig. 9, and wherein the most how two-piece type cutter bounces back, and this is nail bin The usual way replaced；

Figure 11 is thin portion, the left side front view that assembly used by the nail of Figure 10, and wherein two-piece type cutter starts percussion, and described nail is executed With assembly corresponding to the configuration shown in Fig. 9；

Figure 12 is that the Guan Bi nail of Fig. 9 after two-piece type cutter and trigger shaft fire towards distally is just using the left cross sectional of assembly View；

Figure 13 is that after firing nail bin and making two-piece type cutter retraction, closing of Figure 12 follows closely the left cross sectional using assembly Front view；

Figure 14 is the left cross sectional thin portion front view that assembly used by the nail of Figure 13, wherein allows two-piece type cutter to fall into locking Position；

Figure 15 is cutting of the line 15-15 intercepting of the actuated articulation joints (flexible cervical region) of the surgery suturing appliance along Fig. 1 The top view in face；

Figure 16 is the anterior elevational view of the vertical cross-section of the line 16-16 intercepting of the actuated articulation joints along Figure 15, it is shown that The electroactive polymer of trigger shaft (EAP) plate articulation actuator and EAP gripper shoe；

Figure 17 is the top view in cross section carrying out intercepting along the line 15-15 of the actuated articulation joints of Figure 16 after joint motions Figure；

Figure 18 is the perspective view of the actuated articulation joints of Figure 15；

Figure 19 is the perspective view of a robot controller embodiment；

Figure 20 is a robot of the robot system of the multiple surgical technique and tools embodiments being operably supported the present invention The perspective view of surgery arm car/manipulator；

Figure 21 is the side view of the robotic surgery arm car/manipulator shown in Figure 20；

Figure 22 is the perspective of the exemplary cart structure with the positioning linkage rod for being operably supported robotic manipulator Figure, described robotic manipulator can be used together with the various surgical technique and tools embodiments of the present invention；

Figure 23 is the perspective view of the surgical technique and tools embodiment of the present invention；

Figure 24 is for various surgical technique and tools embodiments are attached to the adapter of robot system and tool rack layout Schematic diagram illustrating view；

Figure 25 is the side view of the adapter shown in Figure 24；

Figure 26 is the bottom view of the adapter shown in Figure 24；

Figure 27 is the top view of the adapter of Figure 24 and 25；

Figure 28 is the partial bottom perspective view of the surgical technique and tools embodiment of Figure 23；

Figure 29 is the exploded of a part for the surgical end-effector embodiment of the articulatable of the present invention Figure；

Figure 30 is the perspective view of the surgical technique and tools embodiment removing Figure 28 that shell installed by instrument；

Figure 31 is the back perspective view of the surgical technique and tools embodiment removing Figure 28 that shell installed by instrument；

Figure 32 is the front perspective view of the surgical technique and tools embodiment removing Figure 28 that shell installed by instrument；

Figure 33 is the partial, exploded perspective view of the surgical technique and tools embodiment of Figure 32；

Figure 34 is the partial cross-sectional side view of the surgical technique and tools embodiment of Figure 28；

Figure 35 is the amplification view of a part for the surgical technique and tools shown in Figure 34；

Figure 36 is the decomposition diagram of a part for the tool mounting portion of the surgical technique and tools embodiment shown in Figure 28；

Figure 37 is the amplification decomposition diagram of a part for the tool mounting portion of Figure 36；

Figure 38 is the partial sectional view of a part for the slender axles assembly of the surgical technique and tools of Figure 28；

Figure 39 is the side view of half part of the Guan Bi nut embodiment of the surgical technique and tools embodiment of the present invention；

Figure 40 is the perspective view of another surgical technique and tools embodiment of the present invention；

Figure 41 is the transversal of a part for the surgical end-effector of the surgical technique and tools embodiment of Figure 40 and slender axles assembly Face side view, wherein anvil block is in an open position and to close clutch pack in an intermediate position；

Figure 42 is another cross-sectional side view of the surgical end-effector shown in Figure 41 and slender axles assembly, wherein Clutch pack is engaged in make position；

Figure 43 is another cross-sectional side view of the surgical end-effector shown in Figure 41 and slender axles assembly, wherein Clutch pack is engaged in firing position；

Figure 44 is the top view of a part for the tool mounting portion embodiment of the present invention；

Figure 45 is the perspective view of another surgical technique and tools embodiment of the present invention；

Figure 46 is the transversal of a part for the surgical end-effector of the surgical technique and tools embodiment of Figure 45 and slender axles assembly Face side view, wherein anvil block is in an open position；

Figure 47 is another of a part for the surgical end-effector of the surgical technique and tools embodiment of Figure 45 and slender axles assembly Individual cross-sectional side view, wherein anvil block is in the close position；

Figure 48 is the perspective view closing the part driving nut and knife bar embodiment of the present invention；

Figure 49 is the top view of another tool mounting portion embodiment of the present invention；

Figure 50 is the perspective view of another surgical technique and tools embodiment of the present invention；

Figure 51 is the transversal of a part for the surgical end-effector of the surgical technique and tools embodiment of Figure 50 and slender axles assembly Face side view, wherein anvil block is in an open position；

Figure 52 is another of a part for the surgical end-effector of the surgical technique and tools embodiment of Figure 51 and slender axles assembly Individual cross-sectional side view, wherein anvil block is in the close position；

Figure 53 is the sectional view installing lining ring embodiment of the surgical technique and tools embodiment of the present invention, it is shown that Guan Bi drive shaft Knife bar and distal portions；

Figure 54 is the sectional view installing lining ring embodiment of Figure 53；

Figure 55 is the top view of another tool mounting portion embodiment of another surgical technique and tools embodiment of the present invention；

Figure 55 A is the decomposition diagram of a part for the arrangement of gears of another surgical technique and tools embodiment of the present invention；

Figure 55 B is the perspective cross-sectional view of the arrangement of gears shown in Figure 58 A；

Figure 56 is that the surgical end of another surgical technique and tools embodiment that have employed the present invention that pressure transducer is arranged is held The cross-sectional side view of a part for row device and slender axles assembly, wherein anvil block is in an open position；

Figure 57 is another of a part for the surgical end-effector of the surgical technique and tools embodiment of Figure 56 and slender axles assembly Individual cross-sectional side view, wherein anvil block is in the close position；

Figure 58 is the one of another surgical technique and tools embodiment of the present invention relevant to the tool rack part of robot system The side view of part, some of parts are illustrated in cross-section；

Figure 59 is the one of another surgical technique and tools embodiment of the present invention relevant to the tool rack part of robot system The side view of part, some of parts are illustrated in cross-section；

Figure 60 is the side view of a part for another surgical technique and tools embodiment of the present invention, and some of parts are with cross section Illustrate；

Figure 61 is the one of another surgical end-effector embodiment of a part for the surgical technique and tools embodiment of the present invention The side view of part, some of parts are illustrated in cross-section；

Figure 62 is the one of another surgical end-effector embodiment of a part for the surgical technique and tools embodiment of the present invention The side view of part, some of parts are illustrated in cross-section；

Figure 63 is the one of another surgical end-effector embodiment of a part for the surgical technique and tools embodiment of the present invention The side view of part, some of parts are illustrated in cross-section；

Figure 64 is the amplification view of a part for the end effector of Figure 63；

Figure 65 is another sectional view of a part for the end effector of Figure 63 and 64；

Figure 66 is the surgical end-effector of another surgical technique and tools embodiment of the present invention and one of slender axles assembly The cross-sectional side view divided, wherein anvil block is in an open position；

Figure 67 is the amplification of a part for the surgical end-effector of the surgical technique and tools embodiment of Figure 66 and slender axles assembly Cross-sectional side view；

Figure 68 is that another cross-sectional side of a part for the surgical end-effector of Figure 66 and 67 and slender axles assembly regards Figure, wherein anvil block is in the close position；

Figure 69 is surgical end-effector and a part for slender axles assembly for the surgical technique and tools embodiment of Figure 66 to 68 Amplify cross-sectional side view；

Figure 70 is the top view of the tool mounting portion embodiment of the surgical technique and tools embodiment of the present invention；

Figure 71 is the perspective component view of another surgical technique and tools embodiment of the present invention；

Figure 72 is before the disposable loading unit can being used together with the various surgical technique and tools embodiments of the present invention is arranged Perspective view；

Figure 73 is the back perspective view of the disposable loading unit of Figure 72；

Figure 74 is the bottom perspective view of the disposable loading unit of Figure 72 and 73；

Figure 75 is that another the disposable loading unit can being used together with the various surgical technique and tools embodiments of the present invention is real Execute the bottom perspective view of example；

Figure 76 is the decomposition diagram of the mounting portion of the disposable loading unit shown in Figure 72 to 74；

Figure 77 is the disposable loading unit of the surgical technique and tools embodiment of the present invention and one of slender axles Assemblies Example The perspective view divided, wherein disposable loading unit is in primary importance；

Figure 78 is another perspective view of a part for the disposable loading unit of Figure 77 and slender axles assembly, the most once Property loading unit is in the second position；

Figure 79 is the section view of a part for the disposable loading unit shown in Figure 77 and 78 and slender axles Assemblies Example Figure；

Figure 80 is another sectional view of the disposable loading unit shown in Figure 77 to 79 and slender axles Assemblies Example；

Figure 81 is another disposable loading unit embodiment and slender axles assembly of the surgical technique and tools embodiment of the present invention The partial, exploded perspective view of a part for embodiment；

Figure 82 is another disposable loading unit embodiment and slender axles assembly of the surgical technique and tools embodiment of the present invention The partial, exploded perspective view of a part for embodiment；

Figure 83 is that another exploded of the disposable loading unit embodiment of Figure 82 and slender axles Assemblies Example is saturating View；

Figure 84 is the top view of another tool mounting portion embodiment of the surgical technique and tools embodiment of the present invention；

Figure 85 is the side view of another surgical technique and tools embodiment of the present invention, some of parts be illustrated in cross-section and with The robot tool frame of robot system is correlated with；

Figure 86 is can dividing in conjunction with the surgical end-effector embodiment that the various surgical technique and tools embodiments of the present invention use Solve component view；

Figure 87 is the cable for driving the cutting device used in the various surgical end-effector embodiments of the present invention The side view of a part for line drive system；

Figure 88 is cable drive system and the top view of cutting device of Figure 87；

Figure 89 is the top view of the cable driving drive arrangement embodiment of the present invention in the close position；

Figure 90 is another top view of the cable driving drive arrangement embodiment of Figure 89 in an intermediate position；

Figure 91 is another top view of the cable driving drive arrangement embodiment of the Figure 89 and 90 being in firing position；

Figure 92 is the perspective view of the cable driving drive arrangement embodiment being in the position shown in Figure 89；

Figure 93 is the perspective view of the cable driving drive arrangement embodiment being in the position shown in Figure 90；

Figure 94 is the perspective view of the cable driving drive arrangement embodiment being in the position shown in Figure 91；

Figure 95 is the perspective view of another surgical technique and tools embodiment of the present invention；

Figure 96 is for driving cutting device another used in the various surgical end-effector embodiments of the present invention The side view of a part for one cable drive system embodiment；

Figure 97 is the top view of the cable drive system embodiment of Figure 96；

Figure 98 is the top view of the tool mounting portion embodiment of another surgical technique and tools embodiment of the present invention；

Figure 99 is the vertical view cutaway drawing of another surgical technique and tools embodiment of the present invention；

Figure 100 is the sectional view of a part for the surgical end-effector embodiment of the surgical technique and tools embodiment of the present invention；

Figure 101 is the surgical end-effector cross sectional end view along the line 101-101 intercepting in Figure 100 of Figure 100；

Figure 102 is the perspective view of the surgical end-effector of Figure 100 and 101 that part is illustrated in cross-section；

Figure 103 is the side view of a part for the surgical end-effector of Figure 100 to 102；

Figure 104 is the perspective view of the sliding part embodiment of the various surgical technique and tools embodiments of the present invention；

Figure 105 is the sectional view of a part for the elongated passageway of the sliding part embodiment of Figure 104 and Figure 103；

With diagram method, Figure 106 to 111 shows that the order of the nail in the surgical technique and tools embodiment of the present invention fires；

Figure 112 is the fragmentary, perspective view of a part for the surgical end-effector embodiment of the present invention；

Figure 113 is the partial cross sectional of a part for the surgical end-effector embodiment of the surgical technique and tools embodiment of the present invention Face perspective view；

Figure 114 be sliding part be axially advanced through the surgical end-effector embodiment of Figure 113 therein another Individual partial cross-section perspective view；

Figure 115 is the perspective view of another sliding part embodiment of another surgical technique and tools embodiment of the present invention；

Figure 116 is that sliding part is axially advanced through the surgical end-effector shown in Figure 113 therein and 114 in fact Execute the partial top view of a part for example；

Figure 117 is another partial top view of the surgical end-effector embodiment of Figure 116, for the sake of clarity, Omit the top surface of surgery nail bin；

Figure 118 is the rotating driver embodiment of the surgical end-effector shown in Figure 113 and 114 and follows closely pusher in fact Execute the partial cross-sectional side view of example；

Figure 119 is the perspective view automatically reloading system embodiment of the present invention, wherein surgical end-effector and its Extraction system engages with extracting mode；

Figure 120 is another perspective view automatically reloading system embodiment shown in Figure 119；

Figure 121 is the cross-sectional elevational view automatically reloading system embodiment shown in Figure 119 and 120；

Figure 122 is another cross-sectional elevational view automatically reloading system embodiment shown in Figure 119 to 121, Wherein its extraction system removes used surgery nail bin from surgical end-effector；

Figure 123 is another cross-sectional elevational view automatically reloading system embodiment shown in Figure 119 to 122, Show and new surgery nail bin is loaded in surgical end-effector；

Figure 124 is the perspective view that another of the present invention reloads system embodiment automatically, and some of parts are with transversal Face illustrates；

Figure 125 is the decomposition diagram of the part automatically reloading system embodiment of Figure 124；

Figure 126 is another decomposition diagram of the part automatically reloading system embodiment shown in Figure 125；

Figure 127 is the cross-sectional elevational view automatically reloading system embodiment of Figure 124 to 126；

Figure 128 is the sectional view of the orientation pipe embodiment supporting disposable loading unit therein；

Figure 129 is the perspective view of another surgical technique and tools embodiment of the present invention；

Figure 130 is the fragmentary, perspective view of the actuated articulation joints embodiment of the surgical technique and tools embodiment of the present invention；

Figure 131 is the perspective view of the Guan Bi pipe embodiment of the surgical technique and tools embodiment of the present invention；

Figure 132 is the perspective of the Guan Bi pipe embodiment of the Figure 131 being assembled in the actuated articulation joints embodiment of Figure 130 Figure；

Figure 133 is the top view of a part for the tool mounting portion embodiment of the surgical technique and tools embodiment of the present invention；

Figure 134 is the perspective that the joint motions used in the tool mounting portion embodiment of Figure 133 drive Assemblies Example Figure；

Figure 135 is the perspective view of another surgical technique and tools embodiment of the present invention；And

Figure 136 is the perspective view of another surgical technique and tools embodiment of the present invention.

Detailed description of the invention

The applicant of present patent application also has and the following patent application of this patent submission same date, these patent Shens Please all be incorporated by reference herein by respective full content:

Entitled " Surgical Instrument With Wireless Communication Between a Control Unit of a Robotic System and Remote Sensor " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _, attorney END5924USCIP2/060339CIP2；

Entitled " Robotically-Controlled Disposable Motor Driven Loading Unit's " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _, attorney END6213USCIP1/070330CIP1；

The United States Patent (USP) of entitled " Robotically-Controlled Endoscopic Accessory Channel " Patent application serial numbers _ _ _ _ _ _ _ _ _, attorney END5568USCIP2/100809CIP2；

The U.S. of entitled " Robotically-Controlled Motorized Surgical Instrument " is special Profit patent application serial numbers _ _ _ _ _ _ _ _ _, attorney END6416USCIP1/080205CIP1；

Entitled " Robotically-Controlled Surgical Stapling Devices That Produce Formed Staples Having Different Lengths " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _, attorney Reel number END5675USCIP6/050504CIP6；

Entitled " Robotically-Controlled Motorized Cutting and Fastening Instrument " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _, attorney END6269USCIP1/ 070391CIP1；

Entitled " Robotically-Controlled Shaft Based Rotary Drive Systems For Surgical Instruments " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _, attorney END6089USCIP1/ 070059CIP1；

Entitled " Robotically-Controlled Surgical Instrument Having Recording Capabilities " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _, attorney END5773USCIP4/ 050698CIP4；With

Entitled " Robotically-Controlled Surgical Instrument With Force Feedback Capabilities " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _, attorney END5773USCIP5/ 050698CIP5；With

Entitled " Surgical Stapling Instruments With Rotatable Staple Deployment Arrangements " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _, attorney END7002USNP/110262.

Some exemplary embodiment be will now be described, to understand the knot of apparatus as disclosed herein and method on the whole The principle of structure, function, manufacture and purposes.One or more examples of these embodiments are shown in the drawings.This area common Skilled person will appreciate that, apparatus and method specifically described herein and illustrated in the accompanying drawings are nonrestrictive exemplary enforcement Example, and the scope of various embodiments of the invention is limited only by the appended claims.Figure explanation is carried out with regard to an exemplary embodiment Feature that is bright or that describe, can be combined with the feature of other embodiments.This modification and version are intended to be included in Within the scope of the present invention.

Therefore, this specification uses in the whole text phrase " in various embodiments ", " in certain embodiments ", " at one In embodiment " or " in an embodiment " etc. be not necessarily all referring to identical embodiment.Additionally, in other embodiments one or more In, the specific features of one or more embodiment, structure or characteristic can be combined in any suitable manner.This modification Within being intended to be included in the scope of the present invention with version.

In fig. 1-3, surgery suturing appliance 10 has end effector at its far-end, and described end effector is shown as nail Using assembly 12, it passes through slender axles 16 and shank 14(Fig. 2) spaced apart.Nail is used assembly 12 and is included for accommodating replaceable nail The nail passage 18 in storehouse 20.Anvil block 22 is attached pivotally to follow closely passage 18, and tissue is clamped to nail bin 20 and is used for by described anvil block Make the staple forming pockets 26(Fig. 6 heading in anvil block lower surface 28) nail 23(Fig. 3 of driving up of nail 24 from nail bin 20) It is deformed into close-shaped.When closing nail and using assembly 12, its transverse cross-sectional area and slender axles 16 are suitable for insertion into through little Surgical port, such as through the trocar intubate (not shown).

Referring specifically to Fig. 1, the control piece on shank 14 is conducive to nail to use correct placement and the orientation of assembly 12.Specifically Saying, rotary knob 30 makes axle 16 rotate around its longitudinal axis, so that nail is used assembly 12 and rotated.Joint fortune in axle 16 Can carry out other location at dynamic joint 32, described axle makes nail use assembly 12 from the longitudinal axis of axle 16 with arc pivot, So that nail is used assembly and is placed on after organ or makes other apparatuses (such as endoscope's (not shown)) be oriented as being positioned at nail Use after assembly 12.These joint motions control switch 34 realization, described switch advantageous by the joint motions on shank 14 The signal of telecommunication being transferred to actuated articulation joints 32 and arrives electroactive polymer (EAP) actuator 36 again, described electroactive polymer causes Dynamic device is provided power by the EAP controller included in shank 14 and power supply 38.

The most made tissue positioned in assembly 12 used by nail, then surgeon is by towards pistol grip 42 nearside tractive Closure trigger 40 closes anvil block 22.Clamp the most by this way, then surgeon can promptly be positioned at the percussion of farther side Trigger 44, thus pull it back the percussion using assembly 12 with realization nail, this percussion is in some applications by a list Firing stroke realizes, and is realized by multiple firing stroke in other are applied.Percussion achieves when the tissue cut off between nail, Sew up at least two nails simultaneously.

The retraction of firing components can be automatically caused when advancing completely.Or, can be by retraction lever 46 tractive backward with reality Now bounce back.After firing components retraction, can be unclamped by surgeon by procedure below and open nail and use assembly 12: towards hands The slightly backward tractive closure trigger 40 of gun-type handle 42 and depress Guan Bi release button 48, discharge closure trigger subsequently 40, thus two stitching ends of the cut-off tissue of assembly 12 release are used from nail.

Assembly used by nail.

Although Fig. 1 shows actuated articulation joints 32, but for the sake of clarity and as alternative application, figure The surgery suturing appliance 10 of 2-14 eliminates actuated articulation joints 32.It will be appreciated, however, that referring to as described in Figure 15-18, The aspect of the present invention has the specific advantages for carrying out joint motions.

In fig. 1-3, nail uses assembly 12 by making two differences of the longitudinal going down of the axle 16 above axle framework 70 Motion achieves and is clamped to tissue, drives nail and cut off the function of tissue.This axle framework 70 is at proximal attachment to shank 14 also And connection rotates for rotary knob 30.Exemplary many strokes shank 14 of the surgical stapling of Fig. 1 and cut-out apparatus 10 exists Authorize the Serial No. 10/374,026 of Swayze and Shelton, entitled " SURGICAL STAPLING INSTRUMENT INCORPORATING A MULTISTROKE FIRING POSITION INDICATOR AND RETRACTION MECHANISM " CO-PENDING and the U.S. Patent application owned together in have more detailed description, the disclosure of described patent application Content is the most incorporated accordingly, has other features as herein described and modification simultaneously.Although many strokes shank 14 There is in the range of being advantageously supported at distance the application of high percussion force, but the application meeting the present invention can comprise to click and sends out punching Journey, such as, authorizing Frederick E.Shelton IV, Michael E.Setser and the sequence of Brian J.Hemmelgarn Row number are the CO-PENDING of 10/441,632 and U.S. Patent application " the SURGICAL STAPLING owned together INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS " described in, this patent The disclosure of application is the most incorporated accordingly.

Referring specifically to Fig. 3, the distal attachment of axle framework 70 is to nail passage 18.Anvil block 22 has and is pivotally received in nail passage Nearside pivoted end 72 in the near-end 74 of 18, just in the distally of its joint with axle framework 70.The pivot end of anvil block 22 End 72 includes closing structure 76, and this closing structure is at nearside, but the distally at itself and nail passage 18 pivotal attachment.Thus, right Closure trigger 40 responds, during the Guan Bi pipe 78 slid above at axle framework 70 carries out nearside lengthwise movement, and Guan Bi Pipe 78 optionally gives anvil block 22 and opens motion, and during described Guan Bi pipe carries out distally lengthwise movement, Guan Bi pipe 78 optionally give anvil block 22 closing motion, and described Guan Bi Guan Qi far-end includes the shape of a hoof hole engaging this closing structure 76 80。

Axle framework 70 completes and guides from shank 14 through the percussion of longitudinally reciprocal formula, two-piece type cutter and trigger shaft 90 fortune Dynamic.Specifically, axle framework 70 includes longitudinal trigger shaft slit 92, and described slit accommodates two-piece type cutter and trigger shaft 90, concrete Ground is the portions of proximal of the tapered trigger shaft of lamination 94.Should be appreciated that and be not intended in the application of actuated articulation joints, layer Close tapered trigger shaft 94 to replace with solid trigger shaft or be made up of other materials, such as shown in Fig. 2-14.

Electron beam 102 is the distal part of two-piece type cutter and trigger shaft 90, and it is conducive to carrying out individually during percussion Guan Bi and percussion and anvil block 22 is spaced apart with elongate staple channel 18.Referring specifically to Fig. 3-4, except any attachment processes Outside (such as solder brazing or binding agent), cutter and trigger shaft 90 are by the recessed vertical attachment in being formed at electron beam 102 at nearside Aperture 104 is formed, and described aperture accommodates the corresponding convex attachment members 106 being presented on distally by the tapered trigger shaft of lamination 94, Thus allow each part to be formed by the selected materials and technique being applicable to its difference in functionality (e.g., intensity, flexibility, frictional force). Electron beam 102 can advantageously be formed by certain material, and described material has and is applicable to be formed a pair top pin 110, in the middle of a pair Pin 112 and base pins or leg 114 and be obtained in that the material behavior of sharp cutting edge 116.Additionally, bracketing cutting blade 116 is every One-body molded and the proximally prominent top guide part 118 of individual vertical end and intermating guides 120 are further defined by tissue segmentation Region 122, described tissue segmentation region contributed to tissue guide before tissue is cut to sharp cutting edge 116.Centre is led It is additionally operable to by against stepped central component 124(Fig. 5 of wedge-shaped slides 126 to part 120) engage and fire nail and use Equipment 12, it is used assembly 12 by nail and realizes nail shaping, as described in more detail below.

Compare, by these structures (e.g., top pin 110, intermediate pin 112 and bottom supports with being assembled by multiple parts 114) be conducive to one-body molded with electron beam 102 relative to each other manufactures, so that it is guaranteed that fired under more close tolerance Action required in journey and/or use various latch-up structures the most mutual of assembly 12 with nail.

In Fig. 6-7, surgery suturing appliance 10 is shown as to be opened, and wherein electron beam 102 is fully retracted.At assembling process In, make what the lower leg 114 of electron beam 102 was dropped through in nail passage 18 to add wide aperture 130, and advance electron beam subsequently 102 so that electron beam 102 slides along the lower tracks 132 being formed in nail passage 18 towards distally.Specifically, lower rail Road 132 includes narrow slit 133, and the slit 134 that described slit is opened for widening on the lower surface of nail passage 18 is with laterally Forming inverted T-shaped in cross section, as specifically shown in Fig. 7 and 8, described T-shaped connects with the hole 130 widened.Once assemble, then The parts being attached to the tapered trigger shaft of lamination 94 at nearside make lower leg 114 can not the most proximally march to the hole widened 130 to allow to depart from.

In fig .9, the tapered trigger shaft of lamination 94 beneficially nail is used assembly 12 and is inserted through the trocar.Specifically, more Being downwardly projected of distally 136 makes electron beam 102 rise when being fully retracted.This is to be downwardly projected by placing at certain point 136 realize, and be downwardly projected in the proximal adding wide aperture 130 in nail passage 18 and upwards push up described at described point Rise.

In Fig. 10, the tapered trigger shaft of lamination 94 is also by including 136 strengthening closer to projecting upwards of side and can covering The operation of some latch-up structure in nail passage 18, described in project upwards during the initial part that percussion is advanced by axle frame Frame 70 advances downwardly.Specifically, at axle framework 70(Fig. 3) in a pair square aperture 142 between limit side lever 140.Contain The clip spring 144 of side lever 140 forces downwards the tapered trigger shaft of lamination outside being projected into longitudinal trigger shaft slit 92 towards distally The part of 94, which ensure that and engage some favourable latch-up structure in due course.When projecting upwards 136 contact clip bullets During spring 144, this propelling becomes apparent from or is limited only to the part that percussion is advanced.

In Fig. 6-7, electron beam 102 is retraction, and wherein its top pin 110 resides in the pivot near proximal ends of anvil block 22 Anvil block pit 150 in.The vertical anvil slot 152(Fig. 2 opened downwards) in anvil block 22, lateral widening is anvil block internal rails Road 154, the top pin 110 of capture electron beam 102 when described track advances towards distally during percussion, such as institute in Fig. 9-10 Show, thus anvil block 22 is the most spaced apart with nail passage 18.Thus, after retraction electron beam 102, surgeon can repeat Open and close nail and use assembly 12, until feeling for the placement of tissue and the orientation sewed up and cut off wherein capture Satisfied, but for electron beam 102 uses assembly 12 even for the nail with reduction diameter and corresponding reduction rigidity, also help Suitable location in tissue.

In Fig. 2-3,5-6,8-14, nail is used assembly 12 and is shown as having the replaceable nail including wedge-shaped slides 126 Storehouse 20.Longitudinally-aligned with parallel multiple wedge slot 202(Fig. 8 opened downwards) accommodate integrated with wedge-shaped slides 126 Corresponding wedge 204.In figs. 8-10, wedge-shaped slides 126 thus the upwards multiple staple drivers of jack-up 206, described nail drives Dynamic device can be vertically slidably movable in staple drivers groove 208.In this exemplary version, each staple drivers 206 includes two Individual vertical pin, it is interior to head on nail profiled surface 214(Figure 10 of anvil block 22 that each pin translates up respective nail 210) Upwards extrusion leans against nail 23 thereon and makes nail deform.The center percussion groove being limited in the nail bin 20 of neighbouring nail passage 18 216(Fig. 3) allow the bottom of wedge-shaped slides 126, horizontal component 218(Fig. 5) and the intermediate pin 112 of electron beam 102 pass through. Specifically, nail bin pallet 220(Fig. 3,8) be attached to polymer staple cartridge body 222 and be positioned under polymer staple cartridge body 222, Described staple cartridge body have be formed at staple drivers groove 208 therein, nail 210 and center percussion groove 216.Nail 23 thus When forming either side, sharp cutting edge 116 enters vertical groove 230, and this vertical groove passes nail bin in addition to its distalmost end The longitudinal axis of 20.

Percussion nail is used assembly 12 and is started as shown in Figure 10, wherein by straight to two-piece type cutter and trigger shaft 90 proximally tractive To being downwardly projected 136 upwardly and rearwardly intermating guides 120 on jack-up electron beam 102, so that when anvil block 22 is opened New nail bin 20 can be inserted in nail passage 18, as shown in Figure 2,6.

In fig. 11, two-piece type cutter and trigger shaft 90 have been advanced towards distally a small distance, thus has allowed heading on When projecting upwards 136 pushing clip spring 144 of the tapered trigger shaft of lamination 94, makes to be downwardly projected 136 and falls into lower tracks 132 Add in wide aperture 130.Intermating guides 120 prevents into one on the stepped central component 124 of wedge-shaped slides 126 by resting in Step is rotated down, so that the intermediate pin 112 of electron beam is maintained in center percussion groove 216.

In fig. 12, fired two-piece type cutter and trigger shaft 90 towards distally, thus advanced wedge-shaped slides 126 so that following closely 23 shape, and cut off the tissue 242 being clamped between anvil block 22 and nail bin 20 by sharp cutting edge 116 simultaneously.Then, in fig. 13, Retraction two-piece type cutter and trigger shaft 90, leave the wedge-shaped slides 126 that distally positions.

In fig. 14, it is allowed in intermediate pin 112 pan-down to the latch recess 240 being formed in nail passage 18 (additionally See Fig. 7,10).Thus, not shown in wedge-shaped slides 126(Figure 14) when the most proximally positioning (that is, lack nail bin 20 or Nail bin 20 is used up), then operator will receive haptic indication when running into the distal side edge of latch recess 240 at intermediate pin 112.

In fig. 1 it is shown that actuated articulation joints 32, its flexibility advantageously having benefited from two-piece type cutter and trigger shaft 90 is strong Degree.In Figure 15-18, actuated articulation joints 32 is shown as the flexible neck joint 300 formed by spinal column body 302, described spinal column It is right that body has lateral symmetry arc groove 304, and described groove allows to carry out joint motions in joint motions plane.The most Know is that the selectivity motion by control bar (not shown) makes respective cross side 306,308 compress simultaneously and stretch, described Control bar longitudinally through respective cross side 306,308.But, it is shown that EAP plate actuator 310,312, each actuator is equal Can dynamic deflection to one or two horizontal direction.

It is defined the central passage 320(Figure 16 longitudinally through spinal column body 302) accommodate a pair gripper shoe 322,324, described Gripper shoe prevents the tapered trigger shaft of lamination 94 from buckling and boning.In exemplary version, each gripper shoe 322,324 has nearside Fixation ends 326(Figure 15) and slip end 328 to adapt to the change of radial distance during joint motions.Thus support tool There is the trigger shaft 94 of thinner thickness.

Although illustrating that the present invention and having had been described in considerable detail shows by describing several embodiments Example embodiment, but applicant is not intended to the range constraint of claim or is restricted to by any way in these details. Those skilled in the art is it can be easily seen that other advantages and modification.

Such as, although there is the wedge-shaped slides integrated with nail bin and have many good qualities, but meeting aspect of the present invention In some application, wedge-shaped slides can be the most integrated with electron beam.Such as, being not only nail bin, whole end effector is equal Can be interchangeable.

For many years, multiple minimally invasive robot (or " remote surgical operation ") system is had been developed over to increase surgery hands The motility of art, and allow surgeon with intuitive way, patient to be performed the operation.These type of systems multiple are special in the following U.S. Having disclosed in profit, each United States Patent (USP) described is hereby incorporated herein by full: entitled " Articulated Surgical Instrument For Performing Minimally Invasive Surgery With Enhanced Dexterity and Sensitivity " United States Patent (USP) 5,792,135, entitled " Robotic Arm DLUS For Performing Surgical Tasks " United States Patent (USP) 6,231,565, entitled " Robotic Surgical Tool With Ultrasound Cauterizing and Cutting Instrument " United States Patent (USP) 6,783,524, entitled " Alignment of Master and Slave In a Minimally Invasive Surgical Apparatus's " United States Patent (USP) 6,364,888, entitled " Mechanical Actuator Interface System For Robotic Surgical Tools " United States Patent (USP) 7,524,320, the U.S. of entitled " Platform Link Wrist Mechanism " State's patent 7,691,098, entitled " Repositioning and Reorientation of Master/Slave Relationship in Minimally Invasive Telesurgery " United States Patent (USP) 7,806,891 and entitled The United States Patent (USP) of " Surgical Tool With Writed Monopolar Electrosurgical End Effectors " 7,824,401.But in the past, these type of systems multiple can not generate effectively cuts and the power of magnitude needed for fastening tissue.

Figure 19 shows can be in conjunction with the master controller 1001 of the appurtenant machine mechanical arm car 1100 type use shown in Figure 20 One pattern.Master controller 1001 and appurtenant machine mechanical arm car 1100 and the parts of each of which and control system are united in this article It is referred to as robot system 1000.The example of this type of system and device is disclosed in United States Patent (USP) 7, and in 524,320, described patent is to draw Mode be expressly incorporated herein.Thus, in addition to the possible necessary various embodiments understanding the present invention and form, herein will not Describe each details of such device in detail.It is known that master controller 1001 generally includes following master controller (at Figure 19 In be typically expressed as 1003): surgeon by three-dimensional display 1002 observe operation while, described master controller is by outward Section doctor grasping also aloft manipulates.Master controller 1001 generally includes manual input device, and described manual input device is preferred Ground move with multiple degree of freedom and is generally also provided with and (such as, is used for closing grasping saw, applying electromotive force to electrode for activating instrument Deng) actuating shank.

As shown in figure 20, in one form, mechanical arm car 1100 can activate multiple surgical technique and tools, commonly referred to as 1200.Master controller and the various robotic surgical systems of mechanical arm car layout and method is used to be disclosed in entitled " Multi- Component Telepresence System and Method " United States Patent (USP) 6, in 132,368, this patent whole public Open content to be hereby incorporated herein by.In various forms, mechanical arm car 1100 includes pedestal 1002, in diagram embodiment In, described base supports has three surgical technique and tools 1200.In various forms, surgical technique and tools 1200 is by a series of manual joints Connecting rod (commonly referred to as device joint 1104) and the robotic manipulator 1106 of motion support.These structures shown herein as have The protecting cover extended on the major part of robot links.These protecting covers can be optional, and can limit Making or be completely eliminated in certain embodiments, the inertia run into be used in the servo control mechanism handling such device minimizes, limits The volume of moving component processed is with collision free and the gross weight that limits car 1100.Car 1100 will be generally of and be suitable in operating room Between the size of mover 1100.Car 1100 can be typically suitable for through standard operating room door and be placed into standard hospital electricity On ladder.In various forms, car 1100 preferably has weight and includes wheel (or other transports) system, and described wheel system is permitted Permitted, by single attendant, car 1100 is positioned adjacent to operating-table.

Referring now to Figure 21, at least one form, robotic manipulator 1106 can include limiting surgical technique and tools 1200 The connecting rod 1108 of motion.In various embodiments, connecting rod 1108 includes being joined with parallelogram arrangement by swivel joint The rigid connector being connected together so that surgical technique and tools 1200 rotates around the certain point in space 1110, as in the U.S. announced State's patent 5, is described more fully below in 817,084, and the complete disclosure of described patent is hereby incorporated herein by.Parallel Tetragon arrangement by rotationally constrained for being sometimes referred to as pitch axis around axle 1112a() pivot.Support parallelogram connection-rod Connector be pivotally mounted to device joint 1104(Figure 20) on so that surgical technique and tools 1200 has further around axle 1112b( Time be referred to as yaw axis) rotate.Pitch axis 1112a and yaw axis 1112b intersects at remote center 1114, described remote center edge The axle 1208 surgical technique and tools 1200 aligns.When being supported by manipulator 1106, surgical technique and tools 1200 can have other driving Degree of freedom, including surgical technique and tools 1200 along the sliding motion of longitudinal tool axis " LT-LT ".When surgical technique and tools 1200 is along work Tool axis LT-LT relative to manipulator 1106 slide (arrow 1112c) time, remote center 1114 is relative to the base of manipulator 1106 Seat 1116 keeps fixing.Thus, make whole manipulator move generally to reorientate remote center 1114.Manipulator The connecting rod 1108 of 1106 is driven by a series of motor 1120.These motors the order of control system processor is responded and Active exercise connecting rod 1108.As will be described in detail further below, motor 1120 is additionally operable to manipulation of surgical instrument 1200.

Figure 22 shows alternative device joint design.In this embodiment, surgical technique and tools 1200 is by two groups Knit alternative manipulator structure 1106' between manipulation instrument to support.Those of ordinary skill in the art will appreciate that this The various embodiments of invention can comprise multiple alternative robot architecture, including being described in entitled " Automated Endoscope System For Optimal Positioning " United States Patent (USP) 5, those in 878,193, this patent Full content is hereby incorporated herein by.Although it addition, the company combined between surgical technique and tools 1200 and master controller 1001 Lead to and the most tentatively describe the data communication between robot components and the processor of robotic surgical system, it should reason Solving, similar connection can occur in the circuit of manipulator, device joint, endoscope or other image capture apparatus etc. and robot Between the processor of Surgery Systems, the processor of described robotic surgical system confirms for component compatibility, unit type is known Not, part corrective (such as skew etc.) connection, parts couple confirmation etc. with robotic surgical system.

Figure 23 shows the exemplary non-limiting surgery work being very suitable for being used together with robot system 1000 Tool 1200, described robot system has the tool drives assembly 1010(Figure 24 being operably linked to master controller 1001), Described master controller can pass through the input of operator (that is, surgeon) and run.As it can be seen, outside surgical technique and tools 1200 includes Section's end effector 2012, described end effector includes straight cuts device.In at least one form, surgical technique and tools 1200 leads to Often include that slender axles assembly 2008, described slender axles assembly are had the nearside being linked together by actuated articulation joints 2011 and close Close pipe 2040 and distal closure tube 2042.Surgical technique and tools 1200 is operationally joined by tool mounting portion (commonly referred to as 1300) Receive manipulator.Surgical technique and tools 1200 also includes tool mounting portion 1300 mechanically and electrically power is connected to connecing of manipulator Mouth 1230.A kind of form of interface 1230 is shown in Figure 24-28.In various embodiments, tool mounting portion 1300 includes Tool mounting plate 1302, described tool mounting plate is operably supported multiple (showing four in Figure 28) rotatable body portion Point, clutch plate or drive element 1304, described each clutch plate or drive element all include prolonging from the surface of drive element 1304 The pair of pin 1306 stretched.One pin 1306 than other pins 1306 on identical drive element 1304 closer to each drive element The rotary shaft of 1304, this forward angle alignment contributing to guaranteeing drive element 1304.Interface 1230 includes can be with installing plate 1302 Adapter component 1240 engaged with mounting means, as further described below.Adapter component 1240 can wrap Include a series of electrical connector pin 1242(Figure 26), described electrical connector pin can be connected to by the circuit board in tool mounting portion 1300 Memory construction.Although this document describes interface 1230 in conjunction with mechanical coupling element, charge coupled device and magnetic couple element, Should be appreciated that and can use multiple remote measurement form, including infrared, inductive etc..

As shown in Figure 24-27, Adapter component 1240 generally includes tool side 1244 and clamper side 1246.In various shapes In formula, multiple rotatable bodies 1250 being installed to float plate 1248, described float plate is main relative to being perpendicular to adapter 1240 Surrounding's adapter structure on surface has the range of movement of restriction.When the side actuated thick stick along tool mounting portion shell 1301 (seeing Figure 23) during bar 1303, the axially-movable of float plate 1248 contributes to making rotatable body 1250 from tool mounting portion 1300 depart from.Other mechanism/layouts can be used releasably tool mounting portion 1300 to be connected to adapter 1240. In at least one form, by resilient radial component, rotatable body 1250 is elastically mounted to float plate 1248, described Resilient radial component extends in periphery indenture around rotatable body 1250.Rotatable body 1250 can be by deflecting these bullets Property structure is relative to plate 1248 axially-movable.When being arranged on the first axial location (towards tool side 1244), rotatable body 1250 rotate freely and do not have angle limits.But, when rotatable body 1250 is towards tool side 1244 axially-movable, protuberance 1252(radially extends from rotatable body 1250) blocking device laterally coupled float plate is to limit rotatable body 1250 around its axis angle rotate.When rotatable body 1250 is pushed to limited position of rotation until pin by drive pin 1272 1234 align with opening 1256 ' (and sliding into wherein) time, this limited rotation can be used to contribute to rotatable body 1250 The drive pin 1272 of tool rack part 1270 corresponding with robot system 1000 drives and engages.The instrument of rotatable body 1250 Opening 1256 on side 1244 and the opening 1256 ' on clamper side 1246 can make the drive element of tool mounting portion 1300 1304(Figure 28) and driving element 1271 accurate alignment of tool rack 1270.Inner side and outer side about drive element 1304 is sold 1306 as it has been described above, opening 1256,1256 ' is positioned at the distance that the rotation axis at a distance of its respective rotation main body 1250 is different Place, to guarantee that position to be reached is not in 180 degree of alignment.It addition, each opening 1256 slightly radially extends, with suitably Accommodate the pin 1306 on peripheral direction.This makes pin 1306 radially slide in opening 1256,1256 ' and adapt to instrument 1200 He Some axle deviations between tool rack 1270, make any angular displacement between driving element and drive element and angular backlash the most simultaneously Littleization.Opening 1256 in tool side 1244 becomes about 90 degree with the opening 1256 ' (shown in broken lines) on clamper side 1246 Skew, illustrates significantly as in Figure 27.

Various embodiments may also include a series of electric connector pins 1242 being positioned on adapter 1240 clamper side 1246, And the tool side 1244 of adapter 1240 can include slit 1258(Figure 27) for the pin accommodating tool mounting portion 1300 Array (not shown).With the exception that between section's instrument 1200 and tool rack 1270 outside transmitting telecommunication number, adapter can be passed through At least some in these electric connectors is connected to adapter memory device 1260(Figure 26 by the circuit board of 1240).

Dismountable latch arrangement 1239 can be used releasably adapter 1240 to be attached to tool rack 1270. As used herein, at least contain adapter when term " tool drives assembly " is in the context for robot system 1000 1240 and the various embodiments of tool rack 1270, and its in fig. 24 commonly referred to as 1010.Such as, as shown in figure 24, instrument Frame 1270 can include that the first latch pin arranges 1274, and what described first latch pin was arranged is sized to be contained in and is arranged at adaptation Corresponding connection in device 1240 pitches in slit 1241.It addition, tool rack 1270 may also include the second latch pin 1276, described second Latch pin is sized to be maintained at corresponding breech lock connection in adapter 1240 and pitches in 1243.See Figure 26.At least In a kind of form, latch assembly 1245 is movably supported on adapter 1240, and can be at the first position latching with do not fasten with a bolt or latch Biasing between lock position, in the first position latching, latch pin 1276 is maintained at respective breech lock and connects in fork 1243, is not fastening with a bolt or latch In lock position, the second latch pin 1276 can enter breech lock and connects fork 1243 or therefrom remove.Use spring (not shown) fastening with a bolt or latch Lock set is biased to position latching.Flange in adapter 1240 tool side 1244 slidably receives instrument and installs shell 1301 The protuberance of horizontal expansion.

Then going to Figure 28-35, at least one embodiment, surgical technique and tools 1200 includes surgical end-effector 2012, in this example, described surgical end-effector includes at least one parts 2024 in addition, and described parts are relative at least The various control campaigns to being applied thereto between the first position and the second position of one miscellaneous part 2022 respond and Optionally move, as will be described below in further detail.In various embodiments, parts 2022 include grasping Make ground and support the elongated passageway 2022 of surgery nail bin 2034 therein, and parts 2024 include the clamping structure that translates pivotally Part, such as anvil block 2024.The various embodiments of surgical end-effector 2012 can make anvil block 2024 and elongated passageway 2022 protect Hold and effectively sew up and cut off at the spacing of the tissue being clamped in surgical end-effector 2012 guaranteeing.As shown in figure 34, outward Section's end effector 2012 also includes cutting device 2032 and sliding part 2033.Such as, cutting device 2032 can be cutter.Surgery Nail bin 2034 operationally accommodates the multiple surgical staples (not shown) being wherein supported on movable staple drivers (not shown).When cutting When cutter tool 2032 is driven across in surgery nail bin 2034, towards distally, the slit (not shown) being centrally located, it the most distad promotes Sliding part 2033.When sliding part 2033 drives towards distally, its " wedge shape " configuration contacts movable staple drivers and towards Guan Bi anvil block 2024 vertical drive staple drivers.When surgical staples is driven to be positioned at the profiled surface on the downside of anvil block 2024, form surgical staples. Sliding part 2033 can be a part for surgery nail bin 2034 so that when cutting device 2032 bounces back after the cutting operation, sliding Moving part 2033 will not bounce back.Anvil block 2024 can open pivotally at the pivoting point 2025 of near-end being positioned at elongated passageway 2022 and Guan Bi.Anvil block 2024 may also include the protuberance 2027 being positioned at its near-end, and described protuberance (hereinafter enters with mechanical closure system One step describe) parts interact be beneficial to opening of anvil block 2024.Elongated passageway 2022 and anvil block 2024 can be by conducting electricity Material (such as metal) is made so that they can be as the antenna connected with the one or more sensors in end effector A part, as mentioned above.Surgery nail bin 2034 can be made up of non-conducting material (such as plastics), and sensor may be connected to Or be arranged in surgery nail bin 2034, also as described above.

As shown in Figure 28-35, according to various embodiments, by slender axles assembly 2008 by attached for surgical end-effector 2012 Receive tool mounting portion 1300.As in the illustrated example, shaft assembly 2008 includes that actuated articulation joints (is typically expressed as 2011), described actuated articulation joints makes surgical end-effector 2012 optionally to enter around joint motions axis AA-AA Row joint motions, described joint motions axis AA-AA extends substantially transversely to longitudinal tool axis LT-LT.See Figure 29.At other In embodiment, eliminate actuated articulation joints.In various embodiments, shaft assembly 2008 can include closing pipe assembly 2009, institute State Guan Bi pipe assembly and include that being pivotally connected to and be operatively supported at ridge assembly by hinge connector 2044 (is generally described as 2049) proximal closure tube 2040 on and distal closure tube 2042.In the illustrated embodiment, ridge assembly 2049 includes distally spine Dividing 2050, described distal spine segment is attached to elongated passageway 2022 and is pivotally coupled to proximal spine segment 2052.Guan Bi pipe Assembly 2009 can axially slide into row response to the actuating movement being applied thereto on ridge assembly 2049.Distal closure tube 2042 include opening 2045, and the protuberance 2027 on anvil block 2024 is inserted in described opening with when distal closure tube 2042 is closely Side beneficially the opening of anvil block 2024 when " PD " upper axially-movable.Guan Bi pipe 2040,2042 can by conductive material (such as Metal) to make so that it can serve as a part for antenna, as mentioned above.Deployment (e.g., drive shaft 2048, 2050) parts can be made up of non-conducting material (such as plastics).

In use, it is probably favourable around longitudinal tool axis LT-LT rotary surgical end effector 2012.Extremely In a few embodiment, tool mounting portion 1300 includes the transmission assembly 2069 rotated, and the transmission assembly of described rotation can Receive the corresponding rotary output motion of the tool drives assembly 1010 from robot system 1000, and this is rotated output fortune Dynamic change into Spin Control motion so that slender axles assembly 2008(and surgical end-effector 2012) around longitudinal tool axis LT-LT rotates.In various embodiments, such as, the near-end 2060 of proximal closure tube 2040 is by support support 1309 forward The Guan Bi sliding part 2100 being movably supported in equally on tool mounting plate 1302 is rotationally supported within tool mounting portion On the tool mounting plate 1302 of 1300.In at least one form, the transmission assembly 2069 of rotation includes pipe gear segment 2062, institute State pipe gear segment to be formed on the near-end 2060 of (or being attached to) proximal closure tube 2040, with by being operatively supported at instrument Swing pinion assembly 2070 on installing plate 1302 is operatively engaged.As shown in figure 31, at least one embodiment, rotate Gear assembly 2070 includes rotary transmission gear 2072, when tool mounting portion 1300 is connected to tool drives assembly 1010, Described rotary transmission gear is connected on the adapter side 1307 of tool mounting plate 1302 corresponding clutch plate or drive element In 1304 first.See Figure 28.Swing pinion assembly 2070 also includes rotary drive gear 2074, described rotary drive tooth Wheel is rotationally supported on tool mounting plate 1302 with pipe gear segment 2062 and rotary transmission gear 2072 in the way of engaging.Will The first rotary output motion from the tool drives assembly 1010 of robot system 1000 is applied to corresponding drive element 1304, thus the rotation of rotary transmission gear 2072 will be caused.The rotation of rotary transmission gear 2072 ultimately results in slender axles group Part 2008(and surgical end-effector 2012) represented by arrow " R " in longitudinal tool axis LT-LT(Figure 31) rotate.Should Work as understanding, apply the rotary output motion from tool drives assembly 1010 in one direction and will cause slender axles assembly 2008 Rotate in a first direction around longitudinal tool axis LT-LT with surgical end-effector 2012, and in an opposite direction Applying rotary output motion will cause slender axles assembly 2008 and surgical end-effector 2012 relative to the of first direction Two sides rotate up.

In at least one embodiment, by making Guan Bi pipe assembly 2009 along distal direction " DD " on ridge assembly 2049 Axially-movable realizes the anvil block 2024 Guan Bi relative to nail bin 2034.As it has been described above, in various embodiments, proximal closure tube The near-end 2060 of 2040 is supported by Guan Bi sliding part 2100, and described Guan Bi sliding part includes that closing actuating device (is generally described as 2099) a part.In at least one form, Guan Bi pipe assembly 2009 can be supported on instrument peace by Guan Bi sliding part 2100 On dress plate 1320 so that proximal closure tube 2040 can rotate relative to Guan Bi sliding part 2100 and with Guan Bi sliding part 2100 Axially advance.Specifically, as shown in figure 36, Guan Bi sliding part 2100 has upright protuberance 2101, described upright dashing forward Go out in the radial groove 2063 that portion extends in the proximal part of proximal closure tube 2040.It addition, as shown in Figure 33 and 36, Guan Bi Sliding part 2100 has the protuberance part 2102 of the slit 1305 extended through in tool mounting plate 1302.Protuberance part 2102 can remain closed sliding part 2100 is slidably engaged with tool mounting plate 1302.In various embodiments, Guan Bi sliding part 2100 have upstanding portion 2104, and described upstanding portion has the Guan Bi rack pinion 2106 being formed on.Guan Bi rack tooth Wheel 2106 can drive with Guan Bi gear assembly 2110 and engage.See Figure 33.

In various forms, Guan Bi gear assembly 2110 includes closing spur gear 2112, and described Guan Bi spur gear is connected to In corresponding clutch plate or drive element 1304 second on the adapter side 1307 of tool mounting plate 1302.See Figure 28. Therefore, when tool mounting portion 1300 is connected to tool drives assembly 1010, will drive from the instrument of robot system 1000 Second rotary output motion of dynamic assembly 1010 is applied on corresponding second drive element 1304 to cause Guan Bi spur gear The rotation of 2112.Guan Bi gear assembly 2110 also includes that the Guan Bi supported in the way of engaging with Guan Bi spur gear 2112 subtracts Speed gear train 2114.As shown in figures 32 and 33, Guan Bi train of reduction gears 2114 includes with Guan Bi spur gear 2112 with the side engaged Formula and the driven gear 2116 that pivotally supported.Guan Bi train of reduction gears 2114 also includes and the second Guan Bi travelling gear 2120 First Guan Bi travelling gear 2118 of engagement, described second closes travelling gear and closes rack pinion 2106 in the way of engaging And be rotationally supported within tool mounting plate 1302.Therefore, by the tool drives assembly 1010 from robot system 1000 The second rotary output motion be applied to corresponding second drive element 1304 and will cause Guan Bi spur gear 2112 and Guan Bi transmission The rotation of device 2110, and final axially driving Guan Bi sliding part 2100 and Guan Bi pipe assembly 2009.Guan Bi pipe assembly 2009 The direction axially ultimately depending on the second drive element 1304 rotation of motion.Such as, to the instrument from robot system 1000 The rotary output motion driving assembly 1010 to receive responds, and will close sliding part upper driving of distal direction " DD " 2100 and final drive Guan Bi pipe assembly 2009 the most in a distal direction.When present dynasty distally drives distal closure tube 2042, Guan Bi The end of pipeline section 2042 will engage a part for anvil block 2024 and makes anvil block 2024 be pivoted to make position.When applying from machine When " opening " output of the tool drives assembly 1010 of people's system 1000 is moved, Guan Bi will be driven to slide along proximal direction " PD " Part 2100 and Guan Bi pipe assembly 2009.When driving distal closure tube 2042 in a proximal direction, opening 2045 therein and anvil Protuberance 2027 interaction on seat 2024 is beneficial to it and opens.In various embodiments, when distal closure tube 2042 is transported When moving to its original position, spring (not shown) can be used so that anvil block is biased to open position.In various embodiments, Guan Bi Being dimensioned so as to of the various gears of gear assembly 2110 produces required necessary closing force, and described closing force is satisfactorily Treating that the tissue being cut by surgical end-effector 2012 and being sewed up closes anvil block 2024.Such as, Guan Bi actuating device 2110 The size of gear can be set to the power that can produce about 70-120 pound.

In various embodiments, drive cutting device 2032 through surgical end-effector 2012 by knife bar 2200.Ginseng See Figure 34 and 36.In at least one form, knife bar 2200 is made by (such as) rustless steel or other suitable materials and is had Substantially rectangular shape of cross section.This knife bar configuration is sufficiently rigid to promote cutting device 2032 to hold through being clamped in surgical end Tissue in row device 2012, the most sufficiently flexible so that surgical end-effector 2012 is relative to proximal closure tube 2040 and nearside Ridge part 2052 carries out joint motions around joint motions axis AA-AA, as will be described below in further detail.Such as figure Shown in 37 and 38, proximal spine segment 2052 has and extends through rectangular passageway 2054 therein, with its be pushed on axially through There is provided for knife bar 2200 time wherein and support.Proximal spine segment 2052 has near-end 2056, and described near-end is rotatably mounted to attached Receive in the ridge mounting bracket 2057 of tool mounting plate 1032.See Figure 36.This arranges and allows proximal spine segment 2052 at nearside Rotate but not axially-movable in Guan Bi pipe 2040.

As shown in Figure 34, the far-end 2202 of knife bar 2200 is attached to cutting device 2032.The near-end of knife bar 2200 2204 are pivotally attached on cutter rack pinion 2206 so that knife bar 2200 rotates freely relative to cutter rack pinion 2206. See Figure 36.As shown in Figure 30-35, cutter rack pinion 2206 is slidably supported at the tooth bar being attached to tool mounting plate 1302 In shell 2210 so that cutter rack pinion 2206 keeps engaging with cutter tooth wheel assembly 2220.More particularly and combine Figure 33, exist In at least one embodiment, cutter tooth wheel assembly 2220 includes that cutter spur gear 2222, described cutter spur gear are connected to tool mounting plate In corresponding clutch plate or drive element 1304 the 3rd on the adapter side 1307 of 1302.See Figure 28.Therefore, will be from Another rotary output motion of robot system 1000 is applied to corresponding 3rd drive element by tool drives assembly 1010 1304, thus the rotation of cutter spur gear 2222 will be caused.Cutter tooth wheel assembly 2220 also includes cutter train of reduction gears 2224, described cutter Train of reduction gears includes the first cutter driven gear 2226 and the second cutter travelling gear 2228.Cutter train of reduction gears 2224 is rotatably It is installed on tool mounting plate 1302 so that the first cutter driven gear 2226 engages with cutter spur gear 2222.Equally, the second cutter passes Moving gear 2228 engages with the 3rd cutter travelling gear 2230, and described 3rd cutter travelling gear and cutter rack pinion 2206 are to engage Mode and be rotationally supported within tool mounting plate 1302.In various embodiments, the chi of the gear of cutter tooth wheel assembly 2220 Very little being set to can produce exerted oneself: power as described in needing passes with drive cutting element 2032 and is clamped in surgical end-effector Tissue in 2012 also activates nail therein.Such as, the size of the gear of cutter driving assembly 2230 can be set to and can produce greatly The power of about 40 to 100 pounds.Should be appreciated that the rotary output motion applied in one direction from tool drives assembly 1010 will Cause cutting device 2032 axially-movable in a distal direction, and applying rotary output motion will cause in an opposite direction Cutting device 2032 is the most axially advanced.

In various embodiments, surgical technique and tools 1200 uses the articulation system including actuated articulation joints 2011 2007, described actuated articulation joints makes surgical end-effector 2012 can carry out joint fortune around joint motions axis AA-AA Dynamic, described joint motions axis AA-AA extends substantially transversely to longitudinal tool axis LT-LT.In at least one embodiment, surgery Instrument 1200 includes the first joint motions bar 2250a and second joint moving lever 2250b, described first joint motions bar and second Joint motions bar is slidably supported in the respective channels 2053 of proximal spine segment 2052.See Figure 36 and 38.Extremely In few a kind of form, activate the first joint motions bar 2250a and second by joint motions actuating device (commonly referred to as 2249) Joint motions bar 2250b, described joint motions actuating device is operatively supported on tool mounting plate 1032.Joint motions bar Each of which in 2250a, 2250b has the near-end 2252 therefrom stretching out guide post, and described guide post extends laterally across closely Respective slots in the proximal part of lateral ridge part 2052 and enter the corresponding arcuate slot in joint motions nut 2260, institute State joint motions nut and include a part for joint motions actuating device.Figure 37 shows joint motions bar 2250a.Should manage Solving, joint motions bar 2250b is similarly configured.As shown in figure 37, such as, joint motions bar 2250a has guide post 2254, Described guide post extends laterally across the respective slots 2058 in the proximal part 2056 of distal spine segment 2050 and enters pass Corresponding arcuate slot 2262 in joint movement nut 2260.It addition, joint motions bar 2250a has by such as selling 2253a pivot It is connected to the far-end 2251a of distal spine segment 2050 with turning, and joint motions bar 2250b has by such as selling 2253b pivot It is connected to the far-end 2251b of distal spine segment 2050 with turning.Specifically, joint motions bar 2250a first transversely with vertical To tool axis LT-LT lateral shift, and joint motions bar 2250b is transversely horizontal with longitudinal tool axis LT-LT second To skew.Therefore, joint motions bar 2250a and 2250b axially-movable in an opposite direction will make distal spine segment 2050 with And be attached to surgical end-effector 2012 thereon and can carry out joint motions around joint motions axis AA-AA, as will be Describe in further detail below.

By controlling surgical end-effector 2012 around longitudinal tool axis LT-LT rotary joint movement nut 2260 Joint motions.Joint motions nut 2260 is rotationally engaged to the proximal part 2056 of distal spine segment 2050, and leads to Cross joint motions gear assembly 2270 rotatably to drive on the proximal part of distal spine segment.More particularly and combine figure 31, at least one embodiment, joint motions gear assembly 2270 includes joint motions spur gear 2272, described joint motions Spur gear is connected on the adapter side 1307 of tool mounting plate 1302 the 4th in corresponding clutch plate or drive element 1304 Individual.See Figure 28.Therefore, when interface 1230 is connected to tool rack 1270, will be from machine through tool drives assembly 1010 Another rotary input motion of people's system 1000 is applied on corresponding 4th drive element 1304, thus will cause joint motions The rotation of spur gear 2272.Joint motions travelling gear 2274 is rotationally supported on tool mounting plate 1302 and and joint motions The gear parts 2264 of spur gear 2272 and joint motions nut 2260 as depicted engages.As shown in figs. 36 and 37, joint Movement nut 2260 has the shoulder 2266 being formed on, and described shoulder limits ring-shaped groove 2267 to accommodate holding therein Bar 2268.Holding bar 2268 is attached on tool mounting plate 1302, and is used for preventing joint motions nut 2260 at proximal spine Axially-movable in part 2052, keeps the rotatory power relative to it simultaneously.Accordingly, because guide post 2254 and joint motions tooth The interaction of helical slot 2262 in wheel 2260, rotary joint movement nut 2260 will cause joint motions in a first direction Bar 2250a is axially-movable and joint motions bar 2250b axially-movable in proximal direction " PD " in distal direction " DD ".Phase As, in the second direction relative with first direction, rotary joint movement nut 2260 will make joint motions bar 2250a closely Side is to " PD " upper axially-movable, and makes joint motions bar 2250b in the upper axially-movable of distal direction " DD ".Therefore, it can lead to Cross and in distal direction " DD ", make joint motions bar 2250a motion simultaneously and make joint motions bar in proximal direction " PD " 2250b moves and makes in surgical end-effector 2012 " FD " the most in a first direction around joint motions axis " AA- AA " carry out joint motions.It is also possible to by making joint motions bar 2250a move and far in proximal direction " PD " simultaneously Side makes joint motions bar 2250b motion make surgical end-effector 2012 optionally at second direction " SD " on " DD " On carry out joint motions around joint motions axis " AA-AA ".See Figure 29.

Above-mentioned device embodiment have employed handing-over and arranges, the medical work being particularly suited for being controlled by robot is arranged in described handing-over Tool is installed in the mechanical arm arrangements of at least one form, and described mechanical arm arrangements produces the Spin Control fortune that at least four is different Dynamic.Those of ordinary skill in the art be will appreciate that and can be selected via programmable control system by robot system/controller Control to selecting property this type of rotary output motion.Such as, above-mentioned instrument is arranged and can be well adapted for and by Intuitive Those robot systems that Surgical, Inc. (Sunnyvale, California, U.S.A.) manufacture are used together, and are wherein permitted How can describe in detail in the various patents being hereby incorporated herein by.Unique sum of various embodiments of the present invention Novel aspect is used for utilizing the rotary output motion provided by robot system specifically to control motion, described control to generate Motion has to be made end effector cutting and sews up enough magnitudes of tissue.Therefore, unique cloth of various embodiments of the present invention Put and disclosed herein and by the claimed multiple multi-form of right tool system can be made to combine offer program with principle Robot systems of the rotation changed or the other types of other output motions and form are efficiently used.It addition, along with continuing ginseng Read this detailed description of the invention will be apparent from, utilize one or more produced by robot system to control motion all right Effectively activate the various end effector embodiment of the present invention of the actuating movement needing other forms.

Figure 40-44 shows outside the another kind that effectively can use in conjunction with the robot system 1000 with tool drives assembly Section's instrument 2300, the robot system that described tool drives assembly is operably linked to be run by the input of operator Controller, and it can provide at least one to revolve at least one the rotatable body part being supported on tool drives assembly Transfer out motion.In various forms, surgical technique and tools 2300 includes surgical end-effector 2312, described surgical end-effector Including elongated passageway 2322 and the clamping component of pivotally translatable, such as anvil 2324, described elongated passageway and pivotally translatable Clamping component is maintained at the spacing guaranteeing effectively to sew up and cut off the tissue being clamped in surgical end-effector 2312. As shown in the illustrated embodiment, surgical end-effector 2312 can include in addition to aforementioned elongated passageway 2322 and anvil block 2324 The cutting device 2332 with the sliding part part 2333 being formed on, the surgery nail bin that is positioned in elongated passageway 2322 2334 and there is the rotary end actuator driven axle 2336 of the helical thread being formed on.Such as, cutting device 2332 It can be cutter.As will be described below in further detail, rotary end actuator driven axle 2336 will make cutting device 2332 and sliding part part 2333 travel axially across surgery nail bin 2334 with between original position and end position move.Cut The direction that end effector drive shaft 2336 rotates is depended in the direction that cutter tool 2332 is axially advanced.Anvil block 2324 can connect Open pivotally and close to the pivoting point 2325 of the near-end of elongated passageway 2322.Anvil block 2324 may also include and is positioned at its near-end Protuberance 2327, described protuberance operationally joins with the parts of mechanical closure system (described further below) to open With Guan Bi anvil block 2324.When rotary end actuator driven axle 2336, cutting device 2332 and sliding part 2333 will be through outward Section's nail bin 2334 is longitudinally travelled to end position from original position, thus cutting is clamped in the group in surgical end-effector 2312 Knit.Sliding part 2333 makes nail therein be driven through cut-off tissue and head on through the motion of surgery nail bin 2334 The anvil block 2324 of Guan Bi, described anvil block makes the tissue that nail bending is cut off with fastening.In one form, elongated passageway 2322 He Anvil block 2324 can be made up of conductive material (such as metal) so that they can one or more as with end effector A part for the antenna of sensor connection, as mentioned above.Surgery nail bin 2334 can be made up of non-conducting material (such as plastics), And sensor may be coupled to or be arranged in surgery nail bin 2334, as mentioned above.

Although it should be noted that the embodiment of surgical technique and tools described herein 2300 uses the tissue to cutting off to stitch The surgical end-effector 2312 closed, but in other embodiments, can use for the tissue cut off is fastened or close The different technologies of envelope.Such as, it is possible to use utilize radio-frequency (RF) energy or binding agent to fasten the end effector of cut-off tissue. Authorize Yates et al. entitled " Electrosurgical Hemostatic Device " United States Patent (USP) 5,709,680 with And authorize entitled " the Electrosurgical Hemostatic Device With Recessed And/ of Yates et al. Or Offset Electrodes " United States Patent (USP) 5,688,270 disclose use radio-frequency (RF) energy to fasten cut-off tissue Cutting device, this patent is hereby incorporated herein by.Authorize the U.S. Patent Application Serial Number 11/ of Morgan et al. 267,811 and authorize the U.S. Patent Application Serial Number 11/267,363 of Shelton et al. to disclose use binding agent tight Gu the cutting device of cut-off tissue, this patent is also hereby incorporated herein by.Therefore, although description herein relates to Cutting/sew up operation etc., but it would be recognized that this is only exemplary embodiment, it is no intended to limit.Can also use Its hetero-organization tightening technology.

In the illustrated embodiment, surgical end-effector 2312 is connected to slender axles assembly 2308, described slender axles assembly It is connected to tool mounting portion 2460 and limits longitudinal tool axis LT-LT.In this embodiment, slender axles assembly 2308 does not wraps Include actuated articulation joints.Those of ordinary skill in the art will be understood that to have actuated articulation joints in other embodiments.? In at least one embodiment, slender axles assembly 2308 includes the outer tube 2340 of hollow, and the outer tube of described hollow is pivotably supported In the instrument mounting disc 2462 of tool mounting portion 2460, as will be described below in further detail.In various enforcements In example, slender axles assembly 2308 also includes distal spine axle 2350.Distal spine axle 2350 has distal portions 2354, described distal portion Dividing and be connected to distally fixed pedestal part 2360 or integrally-formed with it, this distally fixed pedestal part couples non-removablely To passage 2322.See Figure 41-43.

As shown in Figure 41, in distal spine axle 2350 has the slit 2355 being slidably received in proximal spine axle 2353 Proximal part 2351, described proximal spine axle supports lining ring 2357 by least one and is immovably supported on hollow outer tube 2340 In.As Figure 41 and 42 is further illustrated, surgical technique and tools 2300 includes closing pipe 2370, and described Guan Bi pipe is restricted to relative to far Side fixed pedestal part 2360 only carries out axially-movable.Guan Bi pipe 2370 has near-end 2372, and described near-end has shape wherein The female thread 2374 become and be threadedly engaged with actuating device, described transmission arrangements (being generally described as 2375) is operationally It is supported on tool mounting plate 2462.In various forms, transmission arrangements 2375 includes rotating driveshaft assembly (commonly referred to as It is 2381).When, upon rotating, rotating driveshaft assembly 2381 will promote to close pipe 2370 axially-movable, as will be hereinafter entered one Step describes in detail.In at least one form, rotating driveshaft assembly 2381 includes closing clutch pack (commonly referred to as 2380) Guan Bi drives nut 2382.More particularly, Guan Bi drives nut 2382 to have proximal part 2384, described near-end Part is pivotably supported relative to outer tube 2340 and is threadedly engaged with Guan Bi pipe 2370.For assembling purpose, proximal part 2384 can be by being threadedly attached to retaining ring 2386.The retaining ring 2386 driving the end 2387 of nut 2382 to cooperate with Guan Bi limits Determining annular slots 2388, the shoulder 2392 of locking lining ring 2390 extends in described annular slots.Locking lining ring 2390 can not move End except ground attachment (such as, welding, gluing etc.) to outer tube 2340.This arranges for being attached to by Guan Bi driving nut 2382 On outer tube 2340, make Guan Bi drive nut 2382 to rotate relative to outer tube 2340 simultaneously.Guan Bi drives nut 2382 also to have far End 2383, described far-end has threaded portion 2385, and described threaded portion passes through screw thread with the female thread 2374 of Guan Bi pipe 2370 Engage.Therefore, Guan Bi drives the rotation of nut 2382 will make Guan Bi pipe 2370 axially-movable, as shown in the arrow " D " in Figure 42.

Guan Bi and the cutting device 2332 of anvil block 2324 is realized by the motion that controls transmitted by hollow drive sleeve 2400 Actuating.As shown in figs. 41 and 42, hollow drive sleeve 2400 is rotatably and slidably contained in distal spine axle 2350 On.Drive sleeve 2400 has the proximal part 2401 being rotatably mounted on proximal spine axle 2353, described proximal spine axle from Tool mounting portion 2460 stretches out so that drive sleeve 2400 can rotate relative to proximal spine axle.See Figure 41.Additionally as Figure 41- Shown in 43, drive sleeve 2400 is rotated around longitudinal tool axis " LT-LT " by drive shaft 2440.Drive shaft 2440 has attached Receive its far-end 2442 travelling gear 2444 engaged with the driven gear 2450 being attached to drive sleeve 2400.

Drive sleeve 2400 also has distal portions 2402, and described distal portions is connected to close clutch pack 2380 Guan Bi clutch 2410 part, described Guan Bi clutch pack has proximal side 2412 and distal face 2414.Proximal side 2412 has Having a series of nearside tusks 2416 being formed on, described nearside tusk is suitable to and is formed at Guan Bi driving nut 2382 Proximal part 2384 in corresponding nearside tusk cavity 2418 be selectively engaged.Therefore, when nearside tusk 2416 When driving the nearside tusk cavity 2418 in nut 2382 to engage with Guan Bi, the rotation of drive sleeve 2400 will cause Guan Bi to drive The rotation of dynamic nut 2382, and finally cause Guan Bi pipe 2370 axially-movable, as will be described below in further detail.

The most as shown in figs. 41 and 42, the distal face 2414 of driving clutch part 2410 has formed thereon one and is Row distally tusk 2415, described distally tusk is suitable to and is formed in the faceplate part 2424 of cutter drive shaft assembly 2420 Corresponding distally tusk cavity 2426 is selectively engaged.In various embodiments, cutter drive shaft assembly 2420 includes hollow Cutter shaft section 2430, the cutter shaft section of described hollow is rotatably received within the corresponding part of distal spine axle 2350, described distally The corresponding part of ridge axle is attached to fixed pedestal 2360 or highlights from fixed pedestal 2360.When closing the remote of clutch part 2410 When side tusk 2415 engages with the distally tusk cavity 2426 in faceplate part 2424, the rotation of drive sleeve 2400 will be drawn Play drive axle segments 2430 to rotate around fixing axle 2350.As shown in Figure 41-43, cutter travelling gear 2432 is attached to drive axle segments 2430, and engage with the driving cutter tooth wheel 2434 being attached to end effector drive shaft 2336.Therefore, the rotation of drive axle segments 2430 Turn and will cause the rotation of end effector drive shaft 2336, thus drive towards distally cutting device 2332 and sliding part 2333 to pass Surgery nail bin 2334, with cutting with sew up the tissue clamped in section's end effector 2312 outside.Sliding part 2333 can be by such as Plastics are made, and can have the distal surface of inclination.When sliding part 2333 is through elongated passageway 2322, sliding part 2333 Rake surface through grasped tissue and can head on anvil block 2324 by the nail upwardly or in " driving " surgery nail bin 2334.Anvil Seat 2324 makes nail bending or " shaping ", thus sews up the tissue of cut-out.As used herein, term " fires " and refers to cause following moving Make: need described action to drive cutting device and sliding part to partially pass through surgery nail bin along distal direction, be clamped in cutting Tissue in surgical end-effector also drives staples through the tissue of cut-out.

In use, it is probably favourable around longitudinal tool axis LT-LT rotary surgical end effector 2312.Extremely In a few embodiment, transmission arrangements 2375 includes the transmission assembly 2465 rotated, and the transmission assembly of described rotation can Receive the corresponding rotary output motion of the tool drives assembly 1010 from robot system 1000, and this is rotated output fortune Dynamic change into Spin Control motion so that slender axles assembly 2308(and surgical end-effector 2312) around longitudinal tool axis LT-LT rotates.As shown in figure 44, the near-end 2341 of outer tube 2340 is pivotally supported in rack arrangement 2343, described support Arrange the tool mounting plate 2462 being attached to tool mounting portion 2460.Swing pinion 2345 is formed at slender axles assembly 2308 On the near-end 2341 of outer tube 2340 or be attached on it, with the swing pinion being operatively supported on tool mounting plate 2462 Assembly 2470 engages.In at least one embodiment, when tool mounting portion 2460 is connected to tool drives assembly 1010, rotation Turn travelling gear 2472 to be connected on the adapter side of tool mounting plate 2462 in corresponding clutch plate or drive element 1304 First.See Figure 28 and 44.Rotary drive assembly 2470 also includes rotary drive gear 2474, described rotary drive gear with Swing pinion 2345 and rotary transmission gear 2472 are rotationally supported within tool mounting plate 2462 in the way of engagement.Will The first rotary output motion from robot system 1000 is applied to corresponding drive element by tool drives assembly 1010 1304, thus the rotation of rotary transmission gear 2472 will be caused by being operably coupled to it.Rotary transmission gear 2472 Rotation ultimately result in slender axles assembly 2308(and end effector 2312) rotate (main rotation around longitudinal tool axis LT-LT Transhipment is dynamic).

By making Guan Bi pipe assembly 2370 realize anvil block 2324 relative to nail bin in the upper axially-movable of distal direction " DD " The Guan Bi of 2034.Realize closing pipe 2370 in distal direction by driving nut 2382 to apply Spin Control motion to Guan Bi Axially-movable on " DD ".In order to drive nut 2382 to apply Spin Control motion to Guan Bi, Guan Bi clutch 2410 must be first First the proximal part 2384 of nut 2382 is driven to engage with Guan Bi.In various embodiments, transmission arrangements 2375 also includes The shift unit being operatively supported on tool mounting plate 2462 drives assembly 2480.More particularly and combine Figure 44, permissible Finding out, the proximal part 2359 of proximal spine segment 2353 extends through swing pinion 2345 and is rotationally coupled to shift unit tooth Wheel tooth bar 2481, described shift unit rack-and-pinion is slidably attached to tool mounting plate 2462 through slit 2482.Shift unit Assembly 2480 is driven also to include shift unit travelling gear 2483, when tool mounting portion 2460 is connected to tool rack 1270, institute State shift unit travelling gear to be connected on the adapter side of tool mounting plate 2462 in corresponding clutch plate or drive element 1304 Second.See Figure 28 and 44.Shift unit drive assembly 2480 also include shift unit driven gear 2478, described shift unit from Moving gear is rotationally supported within work with shift unit travelling gear 2483 and shift unit rack pinion 2482 in the way of engaging On tool installing plate 2462.The second rotary output motion from robot system 1000 is applied by tool drives assembly 1010 To corresponding drive element 1304, thus the rotation of shift unit travelling gear 2483 will be caused by being operably coupled to it Turn.The rotation of shift unit travelling gear 2483 finally causes shift unit rack-and-pinion 2482 and proximal spine segment 2353 and drives Sleeve pipe 2400 and the axially-movable closing clutch 2410 being attached to it.The axial direct of travel of Guan Bi clutch 2410 depends on In the direction that shift unit travelling gear 2483 is rotated by robot system 1000.Therefore, shift unit travelling gear 2483 is Rotation in one direction of rotation will cause the axially-movable closing clutch 2410 along proximal direction " PD ", so that nearside dentation Thing 2416 drives the nearside tusk cavity 2418 in nut 2382 to engage with Guan Bi.Otherwise, shift unit travelling gear 2483 exists Rotation in second direction of rotation (contrary with the first direction of rotation) will cause Guan Bi clutch 2410 along distal direction " DD " Axially-movable, so that distally tusk 2415 is corresponding with the faceplate part 2424 being formed at cutter drive shaft assembly 2420 Distally tusk cavity 2426 engages.

Once making Guan Bi clutch 2410 drive nut 2382 to engage with Guan Bi, Guan Bi drives nut 2382 to be closed by rotation Close clutch 2410 to rotate.By applying to rotate output to the rotary drive transmission part 2490 of transmission arrangements 2375 Motion controls to close the rotation of clutch 2410, and described transmission arrangements is operatively supported at tool mounting plate 2462 On, as shown in figure 44.In at least one embodiment, rotary drive transmission part 2490 includes rotary drive assembly 2490 ', institute Stating rotary drive assembly and include gear 2491, when tool mounting portion 2460 is connected to tool rack 1270, described gear couples The 3rd in corresponding clutch plate or drive element 1304 on the adapter side of tool mounting plate 2462.See Figure 28 and 44.Rotary drive transmission part 2490 also includes the first rotary drive gear 2492, described first rotary drive gear and second Rotary drive gear 2493 and rotary transmission gear 2491 are rotationally supported within tool mounting plate 2462 in the way of engagement On.Second rotary drive gear 2493 is connected to the proximal part 2443 of drive shaft 2440.

Rotary transmission gear 2491 rotating and causing drive shaft 2440 in a first direction in the first rotational direction Rotate.Otherwise, the rotary transmission gear 2491 rotation in the second direction of rotation (contrary with the first direction of rotation) will cause drives Moving axis 2440 rotation in a second direction.As it has been described above, drive shaft 2440 has travelling gear 2444, described travelling gear is attached Receive its far-end 2442 and engage with the driven gear 2450 being attached to drive sleeve 2400.Therefore, the rotation of drive shaft 2440 Cause the rotation of drive sleeve 2400.

The method that now will describe operation surgical technique and tools 2300.Once tool mounting portion 2462 is operably linked to machine The tool rack 1270 of people's system 1000, and it is directed to the position of target tissue that is neighbouring to be cut and that sew up, if anvil block 2334 is still Being not in open position (Figure 41), robot system 1000 can apply the first rotation output fortune to shift unit travelling gear 2483 Dynamic, this makes Guan Bi clutch 2410 axially-movable drive nut 2382 to engage (if not yet engaging) to Guan Bi.See Figure 42.Once the controller 1001 of robot system 1000 determines that Guan Bi clutch 2410 drives nut 2382 to engage with Guan Bi (such as, the one or more sensors by connecting with robot control system in surgical end-effector 2312 (do not show Go out)), then robot controller 1001 can apply the second rotary output motion to rotary transmission gear 2492, as it has been described above, this will Finally cause rotation to drive nut 2382 rotation in a first direction, thus cause Guan Bi pipe 2370 in distal direction " DD " Axial traveling.When closing pipe 2370 and moving in a distal direction, it contacts a part for anvil block 2323 and makes anvil block 2324 It is switched to make position, thus clamps the target tissue between anvil block 2324 and surgery nail bin 2334.Once robot controls Device 1001 determines that anvil block 2334 is by corresponding one or more sensors in communication in surgical end-effector 2312 (not shown) is switched to make position, then robot system 1000 stops applying the second rotation output to rotary transmission gear 2491 Motion.Robot controller 1001 can also provide anvil block 2334 the most of completely closed instruction for surgeon.Then surgery doctor Life can cause percussion process.In alternative embodiment, percussion process can be caused automatically by robot controller 1001.So After, robot controller 1001 applies main Spin Control motion 2483 to shift unit travelling gear 2483, and this makes Guan Bi clutch 2410 axially-movables are to engaging with the faceplate part 2424 of cutter drive shaft assembly 2420.See Figure 43.Once robot system The controller 1001 of 1000 determine Guan Bi clutch 2410 engage with faceplate part 2424 (by end effector 2312 with machine One or more sensors of device people's controller 1001 connection), then robot controller 1001 can be to rotary transmission gear 2492 Apply the second rotary output motion, as it has been described above, this finally makes cutting device 2332 and sliding part part 2333 along distal direction " DD " axially-movable passes surgery nail bin 2334.When cutting device 2332 is towards distal movement through surgery nail bin 2334, cut off It is clamped in tissue therein.When sliding part part 2333 drives towards distally, it drives the nail in surgery nail bin through cut-out Tissue, thus formed with anvil block 2324 and contact.Once robot controller 1001 determines that cutting device 2324 has arrived surgical staples End position (the one or more sensor (not shown) connected by end) in storehouse 2334, then robot controller 1001 stops Only apply the second rotary output motion to rotary transmission gear 2491.Then, robot controller 1001 is to rotary transmission gear 2491 apply time rotary output motion, and this finally makes cutting device 2332 and sliding part part 2333 axial along proximal direction " PD " March to original position.Once robot controller 1001 by surgical end-effector 2312 with robot controller 1001 One or more sensors of connection determine that cutting device 2324 has arrived original position, then robot controller 1001 stop to Rotary transmission gear 2491 applies time rotary output motion.Then, robot controller 1001 is to shift unit travelling gear 2483 Apply main rotary output motion, so that Guan Bi clutch 2410 moves to drive nut 2382 to engage with rotating.Once close Clutch 2410 has moved to drive nut 2382 to engage with rotating, then robot controller 1001 is to rotary transmission gear 2491 Applying time output motion, this finally causes rotation to drive nut 2382 to rotate in a second direction, so that Guan Bi pipe 2370 exists The upper motion of proximal direction " PD ".As shown in Figure 41-43, having opening 2345 in Guan Bi pipe 2370, described opening engages anvil block Protuberance 2327 on 2324 is so that anvil block 2324 is switched to open position.In alternative embodiment, when Guan Bi pipe 2370 return to during original position (Figure 41), it be also possible to use spring so that anvil block 2324 is switched to open position.

Figure 45-49 shows another surgical technique and tools 2500 that effectively can use in conjunction with robot system 1000.Various In form, surgical technique and tools 2500 includes that surgical end-effector 2512, described surgical end-effector include elongated passageway 2522 " Part I " of form and " second moving part " of clamping component (such as anvil block 2524) form that translate pivotally, described Part I and the second moving part are maintained at and guarantee effectively to sew up and cut off the group being clamped in surgical end-effector 2512 At the spacing knitted.As shown in the illustrated embodiment, surgical end-effector 2512 can include except aforementioned elongated passageway 2522 He " the 3rd moving part " of cutting device 2532 form outside anvil block 2524, sliding part (not shown) and be removeably positioned at thin Surgery nail bin 2534 in long-channel 2522.Such as, cutting device 2532 can be cutter.Anvil block 2524 can be connected to elongated leading to Open pivotally at the pivoting point 2525 of the near-end in road 2522 and close.Anvil block 2524 may also include the protuberance being positioned at its near-end 2527, described protuberance operationally can join to play open and close with the parts of mechanical closure system (described further below) Close anvil block 2524.Upon actuation, cutter 2532 and sliding part are longitudinally travelled along elongated passageway 2522, thus cutting is clamped in surgery Tissue in end effector 2512.Sliding part is driven along the nail so that surgery nail bin 2534 that moves of elongated passageway 2522 Through the tissue cut off and the anvil block 2524 heading on Guan Bi, described anvil block makes nail bending to fasten cut-off tissue.One In the form of kind, elongated passageway 2522 and anvil block 2524 can be made up of conductive material (such as metal) so that they can conduct With a part for the antenna that the one or more sensors in surgical end-effector connect, as mentioned above.Surgery nail bin 2534 Can be made up of non-conducting material (such as plastics), and sensor may be coupled to or be arranged in surgery nail bin 2534, as Upper described.

Although it should be noted that the embodiment of surgical technique and tools described herein 2500 uses the tissue to cutting off to stitch The surgical end-effector 2512 closed, but in other embodiments, can use for the tissue cut off is fastened or close The different technologies of envelope.Such as, it is possible to use utilize radio-frequency (RF) energy or binding agent to fasten the end effector of cut-off tissue. Authorize Yates et al. entitled " Electrosurgical Hemostatic Device " United States Patent (USP) 5,709,680 with And authorize entitled " the Electrosurgical Hemostatic Device With Recessed And/ of Yates et al. Or Offset Electrodes " United States Patent (USP) 5,688,270 disclose use radio-frequency (RF) energy to fasten cut-off tissue Cutting device, this patent is hereby incorporated herein by.Authorize the U.S. Patent Application Serial Number 11/ of Morgan et al. 267,811 and authorize the U.S. Patent Application Serial Number 11/267,363 of Shelton et al. to disclose use binding agent tight Gu the cutting device of cut-off tissue, this patent is also hereby incorporated herein by.Therefore, although description herein relates to Cutting/sew up operation etc., but it would be recognized that this is only exemplary embodiment, it is no intended to limit.Can also use Its hetero-organization tightening technology.

In the illustrated embodiment, the elongated passageway 2522 of surgical end-effector 2512 is connected to slender axles assembly 2508, Described slender axles assembly is connected to tool mounting portion 2600.In at least one embodiment, during slender axles assembly 2508 includes Empty ridge pipe 2540, the ridge pipe of described hollow is connected to the tool mounting plate 2602 of tool mounting portion 2600 non-removablely. As shown in Figure 46 and 47, the near-end 2523 of elongated passageway 2522 includes being attached to the hollow of the far-end 2541 of ridge pipe 2540 Tubular structure.In one embodiment, such as, the near-end 2523 of elongated passageway 2522 welded or be glued to the remote of ridge pipe 2540 End.

As Figure 46 and 47 is further illustrated, at least one non-limiting example, surgical technique and tools 2500 also includes closing Closing the actuation member being axially movable of pipe 2550 form, described Guan Bi pipe is restricted to relative to elongated passageway 2522 and ridge pipe 1540 carry out axially-movable.Guan Bi pipe 2550 has near-end 2552, and described near-end has and is formed at female thread 2554 therein, institute State female thread to be threadedly engaged with the part closing the rotatable movement driving nut 2560 form.More particularly, Guan Bi Nut 2560 is driven to have relative to elongated passageway 2522 and the rotatably supported proximal part of ridge pipe 2,540 2562.For assembling mesh , proximal part 2562 is threadedly attached to retaining ring 2570.Retaining ring 2570 is contained in groove 2529, and described groove is elongated Formed between shoulder 2527 and the far-end 2541 of ridge pipe 1540 on the near-end 2523 of passage 2522.This arranges for Guan Bi being driven Dynamic nut 2560 is pivotally supported in elongated passageway 2522.Guan Bi drives the rotation of nut 2560 will cause Guan Bi pipe 2550 Axially-movable, as shown in the arrow " D " in Figure 46.

Drive member extends through ridge pipe 2540 and Guan Bi drives nut 2560, at least one embodiment, described in drive Dynamic component includes the knife bar 2580 with distal portions 2582, and described distal portions is rotationally coupled to cutting device 2532, Knife bar 2580 can be rotated relative to cutting device 2582.As shown in Figure 46-51, Guan Bi drives in nut 2560 has slit 2564, knife bar 2580 slidably extends through described slit.This arranges and allows knife bar 2580 to drive nut relative to Guan Bi 2560 axially-movables.But, knife bar 2580 will also cause Guan Bi driving nut 2560 around the rotation of longitudinal tool axis LT-LT Rotation.What Guan Bi pipe 2550 moved axially ultimately depends on knife bar 2580 and closes the direction driving nut 2560 to rotate.When When driving Guan Bi pipe 2550 towards distally, its far-end is by contact anvil block 2524 and makes anvil block 2524 be switched to make position.Work as applying When rotation from robot system 1000 exports motion, Guan Bi pipe 2550 will be driven along proximal direction " PD ", and And by the joint of the opening 2555 in protuberance 2527 and Guan Bi pipe 2550, anvil block 2524 is switched to open position.

In use, it is probably favourable around longitudinal tool axis LT-LT rotary surgical end effector 2512.Extremely In a few embodiment, tool mounting portion 2600 is able to receive that and rotates output from corresponding the first of robot system 1000 Motion, and this rotary output motion is changed into Spin Control motion so that slender axles assembly 2508 is around longitudinal tool axis LT-LT rotates.As shown in figure 44, the near-end 2542 of the ridge pipe 2540 of hollow is pivotally supported in rack arrangement 2603, institute State rack arrangement and be attached to the tool mounting plate 2602 of tool mounting portion 2600.The various embodiments of surgical technique and tools 2500 are also wrapped Include the transmission arrangements being operatively supported on tool mounting plate 2602, be generally described as 2605.In various forms, pass Dynamic device arranges that 2605 include that swing pinion 2544, described swing pinion are formed at or are attached to the near-end 2542 of ridge pipe 2540, To engage with the rotary drive assembly 2610 being operatively supported on tool mounting plate 2602.In at least one embodiment, When tool mounting portion 2600 is connected to tool rack 1270, rotary transmission gear 2612 is connected to the suitable of tool mounting plate 2602 First in main body, clutch plate or drive element 1304 is rotated accordingly on orchestration side.See Figure 28 and 49.Rotate driving group Part 2610 also includes rotary drive gear 2614, described rotary drive gear and swing pinion 2544 and rotary transmission gear 2612 It is rotationally supported within tool mounting plate 2602 in the way of engagement.By defeated for the first rotation from robot system 1000 Go out to move through tool drives assembly 1010 and be applied to corresponding driven rotation main body 1304, thus will be by being operatively coupled The rotation of rotary transmission gear 2612 is caused to it.The rotation of rotary transmission gear 2612 finally makes slender axles assembly 2508 (with end effector 2512) rotates around longitudinal tool axis LT-LT.

By making Guan Bi pipe assembly 2550 realize anvil block 2524 relative to surgery in the upper axially-movable of distal direction " DD " The Guan Bi of nail bin 2534.Move by driving nut 2382 to apply Spin Control to Guan Bi, it is achieved Guan Bi pipe 2550 is in distally side Axially-movable on " DD ".In various embodiments, rotate Guan Bi and drive by applying rotary output motion to knife bar 2580 Dynamic nut 2560.The rotation of knife bar 2580, described rotation is controlled by applying rotary output motion to rotational closing system 2620 Turn closed-system to be operatively supported on tool mounting plate 2602, as shown in figure 49.In at least one embodiment, rotation is closed Assembly system 2620 includes closing travelling gear 2622, when tool mounting portion 2600 is connected to tool rack 1270, described Guan Bi Travelling gear is connected to corresponding driven rotatable body part, dish or element 1304 on the adapter side of tool mounting plate 2462 In second.See Figure 28 and 49.In at least one embodiment, Guan Bi travelling gear 2622 is (general with Guan Bi gear train It is described as 2623) drive engagement.Guan Bi gear drive train 2623 include being pivotally supported on tool mounting plate 2602 the One driven Guan Bi gear 2624.By drive shaft 2628, first Guan Bi driven gear 2624 is attached to the second Guan Bi driven gear 2626.Second Guan Bi driven gear 2626 and the 3rd Guan Bi driven gear being pivotally supported on tool mounting plate 2602 2630 engagements.Guan Bi travelling gear 2622 rotation in a second rotational direction will cause the 3rd to close driven gear 2630 the Rotation on two directions.Otherwise, close the travelling gear 2483 rotation in secondary direction of rotation (contrary with the second direction of rotation) The 3rd Guan Bi driven gear 2630 will be caused in power rotation upwards.

As shown in figure 49, drive shaft assembly 2640 is connected to the near-end of knife bar 2580.In various embodiments, drive shaft Assembly 2640 includes the portions of proximal 2642 with square cross-sectional shape.Portions of proximal 2642 can be with the 3rd driven gear In 2630, corresponding shaped hole is sliding engaged.When the 3rd driven gear 2630 rotates, this layout causes drive shaft assembly 2640(and knife bar 2580) rotation.Drive shaft assembly 2640 drives assembly 2650 by axle on distally and proximally direction by cutter To propelling.The cutter of a kind of form drives assembly 2650 to include rotary transmission gear 2652, when tool mounting portion 2600 is connected to During tool rack 1270, described rotary transmission gear is connected on the adapter side of tool mounting plate 2462 corresponding driven rotatable In main part, dish or element 1304 the 3rd.See Figure 28 and 49.Rotary drive gear 2652 (is typically retouched with gear train State is 2653) drive engagement.In at least one form, gear train 2653 also includes being pivotally supported at tool mounting plate The first rotary drive gear assembly 2654 on 2602.First rotary drive gear assembly 2654 and the 3rd rotary drive gear train Part 2656 engages, described 3rd rotary drive gear assembly be pivotally supported on tool mounting plate 2602 and with the 4th rotation Turn driven gear assembly 2658 to engage, described 4th rotary drive gear assembly and the threaded portion 2644 of drive shaft assembly 2640 Engagement.Rotary transmission gear 2652 rotates in the 3rd direction of rotation and drive shaft assembly 2640 and knife bar 2580 will be caused in distally Direction " DD " is upper axially advances.Otherwise, rotary transmission gear 2652 is in three grades of direction of rotation (contrary with the 3rd direction of rotation) Rotating to cause drive shaft assembly 2640 and knife bar 2580 to move in a proximal direction.

The method that now will describe operation surgical technique and tools 2500.Once tool mounting portion 2600 is operably linked to machine The tool rack 1270 of people's system 1000, then surgical end-effector 2512 can be positioned adjacent to be cut by robot system 1000 Position with the target tissue sewed up.If anvil block 2524 is not yet in open position (Figure 46), robot system 1000 can be to closing Closing travelling gear 2622 and apply the second rotary output motion, this causes knife bar 2580 rotation in a second direction.Knife bar 2580 Rotation in a second direction causes Guan Bi to drive nut 2560 rotation in a second direction.When Guan Bi drives nut 2560 to exist When second party rotates up, Guan Bi pipe 2550 is in the upper motion of proximal direction " PD ".When Guan Bi pipe 2550 is in proximal direction " PD " During motion, the protuberance 2527 on anvil block 2524 joins with the opening 2555 in Guan Bi pipe 2550 and makes anvil block 2524 be switched to beat Open position.In addition or in alternative embodiment, when closing (Figure 28) when pipe 2550 returns to original position, can use Spring (not shown) is to be switched to open position by anvil block 2354.Then, outside can being opened by robot system 1000 manipulation Section's end effector 2512 is to be positioned at target tissue between the anvil block 2524 and surgery nail bin 2534 opened.Then, surgery doctor Life can be by activating robot control system 1000 to apply the second rotary output motion cause to Guan Bi travelling gear 2622 Closing course, as it has been described above, this finally causes Guan Bi to drive nut 2382 rotation in a second direction, thus causes Guan Bi pipe The 2250 axial travelings in distal direction " DD ".When closing pipe 2550 and moving in a distal direction, it contacts anvil block 2524 A part and make anvil block 2524 be switched to make position, thus clamp the target tissue between anvil block 2524 and nail bin 2534.One Denier robot controller 1001 determines that anvil block 2524 is by corresponding one or many in communication in end effector 2512 Individual sensor (not shown) is switched to make position, then robot controller 1001 stops applying the to Guan Bi travelling gear 2622 Two rotary output motion.Robot controller 1001 can also provide anvil block 2524 the most of completely closed instruction for surgeon. Then surgeon can cause percussion process.In alternative embodiment, percussion process can be by robot controller 1001 Automatically cause.

After robot controller 1001 determines that anvil block 2524 is in the close position, then robot controller 1001 to Rotary transmission gear 2652 applies the 3rd rotary output motion, and this causes drive shaft assembly 2640 and knife bar 2580 in distal direction Axially-movable on " DD ".When cutting device 2532 is towards distal movement through surgery nail bin 2534, cut-out is clamped in therein Tissue.When sliding part part (not shown) drives towards distally, its drive the nail in surgery nail bin 2534 through the tissue cut off, Thus formed with anvil block 2524 and contact.Once robot controller 1001 by surgical end-effector 2512 with robot control One or more sensor (not shown) of device 1001 processed connection determine that cutting device 2532 has arrived in surgery nail bin 2534 End position, then robot controller 1001 stops applying the second rotary output motion to rotary transmission gear 2652.Then, machine Device people's controller 1001 applies time Spin Control motion to rotary transmission gear 2652, and this finally makes cutting device 2532 and slides Part part axially marches to original position in proximal direction " PD ".Once robot controller 1001 is performed by surgical end The one or more sensor (not shown) connected with robot controller 1001 in device 2512 determine that cutting device 2524 arrives Reach original position, then robot controller 1001 stops applying time rotary output motion to rotary transmission gear 2652.Then, machine Device people's controller 1001 can apply time rotary output motion to Guan Bi travelling gear 2622, and this causes knife bar 2580 at power upwards Rotation.Knife bar 2580 causes Guan Bi to drive nut 2560 in power rotation upwards in power rotation upwards.When Guan Bi is driven Dynamic nut 2560 is when power rotates up, and Guan Bi pipe 2550 moves to open position in proximal direction " PD ".

Figure 50-55B shows another surgical technique and tools 2700 that effectively can use in conjunction with robot system 1000.Various In form, surgical technique and tools 2700 includes that surgical end-effector 2712, described surgical end-effector include elongated passageway 2722 " Part I " of form and include " second moving part " of clamping component (the such as anvil block 2724) form translated pivotally, Described Part I and the second moving part are maintained at and guarantee effectively to sew up and cut-out is clamped in surgical end-effector 2712 Tissue spacing at.As shown in the illustrated embodiment, surgical end-effector 2712 can include except aforementioned channels 2722 He " the 3rd moving part " of cutting device 2732 form outside anvil block 2724, sliding part (not shown) and be removeably positioned at thin Surgery nail bin 2734 in long-channel 2722.Such as, cutting device 2732 can be cutter.Anvil block 2724 can be connected to elongated leading to Open pivotally at the pivoting point 2725 of the near-end in road 2722 and close.Anvil block 2724 may also include the protuberance being positioned at its near-end 2727, described protuberance joins with the parts of mechanical closure system (described further below) to open and to close anvil block 2724. Upon actuation, cutter 2732 and sliding part are longitudinally travelled along elongated passageway 2722, thus cutting is clamped in surgical end-effector Tissue in 2712.Sliding part moving so that the nail of surgery nail bin 2734 is driven through cut-out along elongated passageway 2722 Organizing and head on the anvil block 2724 of Guan Bi, described anvil block makes the tissue that nail bending is cut off with fastening.In one form, carefully Long-channel 2722 and anvil block 2724 can be made up of conductive material (such as metal) so that they can be held as with surgical end A part for the antenna of the one or more sensors connection in row device, as mentioned above.Surgery nail bin 2734 can be by non-conductive Material (such as plastics) is made, and sensor may be coupled to or be arranged in surgery nail bin 2734, as mentioned above.

Although it should be noted that the embodiment of surgical technique and tools described herein 2500 uses the tissue to cutting off to stitch The surgical end-effector 2712 closed, but in other embodiments, can use for the tissue cut off is fastened or close The different technologies of envelope.Such as, it is possible to use utilize radio-frequency (RF) energy or binding agent to fasten the end effector of cut-off tissue. Authorize Yates et al. entitled " Electrosurgical Hemostatic Device " United States Patent (USP) 5,709,680 with And authorize entitled " the Electrosurgical Hemostatic Device With Recessed And/ of Yates et al. Or Offset Electrodes " United States Patent (USP) 5,688,270 disclose use radio-frequency (RF) energy to fasten cut-off tissue Cutting device, this patent is hereby incorporated herein by.Authorize the U.S. Patent Application Serial Number 11/ of Morgan et al. 267,811 and authorize the U.S. Patent Application Serial Number 11/267,363 of Shelton et al. to disclose use binding agent tight Gu the cutting device of cut-off tissue, this patent is also hereby incorporated herein by.Therefore, although description herein relates to Cutting/sew up operation etc., but it would be recognized that this is only exemplary embodiment, it is no intended to limit.Can also use Its hetero-organization tightening technology.

In the illustrated embodiment, the elongated passageway 2722 of surgical end-effector 2712 is connected to slender axles assembly 2708, Described slender axles assembly is connected to tool mounting portion 2900.Although it is not shown, slender axles assembly 2708 can include joint motions Joint optionally closes around the axis extending substantially transversely to tool axis LT-LT with permission surgical end-effector 2712 Joint motion.In at least one embodiment, slender axles assembly 2708 includes the ridge pipe 2740 of hollow, and the ridge pipe of described hollow can not It is connected to the tool mounting plate 2902 of tool mounting portion 2900 with removing.As shown in figs. 51 and 52, elongated passageway 2722 is near End 2723 includes by installing the tubular structure that lining ring 2790 is attached to the hollow of ridge pipe 2740.Figure 53 shows installation lining ring The sectional view of 2790.In various embodiments, installing lining ring 2790, to have the nearside of the far-end that can be attached to ridge pipe 2740 convex Edge end 2791.In at least one embodiment, such as, the proximal flange end 2791 installing lining ring 2790 is welded or gluing Far-end to ridge pipe 2740.As Figure 51 and 52 is further illustrated, lining ring 2790 is installed also there is installation hub portion 2792, described peace Fill hub portion is dimensioned so as to accommodate the near-end 2723 of elongated passageway 2722 thereon.The near-end of elongated passageway 2722 2723 by such as welding, bonding etc. is attached to install hub portion 2792 non-removablely.

As Figure 51 and 52 is further illustrated, surgical technique and tools 2700 also includes the cause being axially movable closing pipe 2750 form Dynamic component, described Guan Bi pipe is restricted to carry out axially-movable relative to elongated passageway 2722.Guan Bi pipe 2750 has near-end 2752, described near-end has and is formed at female thread 2754 therein, and what described female thread and Guan Bi drove nut 2760 form can The part of rotary motion is threadedly engaged.More particularly, Guan Bi drives nut 2760 to have relative to elongated passageway 2722 Proximal part 2762 rotatably supported with ridge pipe 2740.For assembling purpose, proximal part 2762 is threadedly attached to retaining ring 2770.Retaining ring 2770 is contained in groove 2729, described groove shoulder 2727 on the near-end 2723 of passage 2722 and peace Formed between the installation hub 2729 of fitted lining circle 2790.This arranges for Guan Bi driving nut 2760 is rotationally supported at passage In 2722.Guan Bi drives the rotation of nut 2760 will cause Guan Bi pipe 2750 axially-movable, as shown in the arrow " D " in Figure 51.

Drive member extends through ridge pipe 2740, installs lining ring 2790 and Guan Bi driving nut 2760, real at least one Executing in example, described drive member includes the knife bar 2780 with the distal portions 2782 being connected to cutting device 2732.Such as Figure 51 Shown in 52, lining ring 2790 is installed and there is the path 2793 passed through to allow knife bar 2780 to slidably pass through wherein.Similar Ground, Guan Bi drives in nut 2760 has slit 2764, and knife bar 2780 slidably extends through described slit.This arranges permission Knife bar 2780 drives nut 2760 axially-movable relative to Guan Bi.

The actuating of anvil block 2724 is controlled by rotary drive Guan Bi axle 2800.As shown in figs. 51 and 52, Guan Bi drive shaft The distal portions 2802 of 2800 extends through the path 2794 installed in lining ring 2790, and closes gear 2804 and be attached to it On.Guan Bi gear 2804 can drive with Guan Bi the inner surface 2761 of nut 2760 to drive and engage.Therefore, the rotation of axle 2800 is closed Turn the rotation that also Guan Bi will be caused to drive nut 2760.Axially ultimately depending on of Guan Bi pipe 2750 motion closes axle 2800 and closes Close the direction driving nut 2760 to rotate.Such as, a rotating closed motion to being received from robot system 1000 rings Should, Guan Bi pipe 2750 will be driven in distal direction " DD ".When closing pipe 2750 and driving towards distally, opening 2745 will engage Protuberance 2727 on anvil block 2724 also makes anvil block 2724 be switched to make position.When applying opening from robot system 1000 When putting formula rotary motion, Guan Bi pipe 2750 will be driven in proximal direction " PD " and be switched to open position by anvil block 2724 Put.In various embodiments, spring (not shown) can be used so that anvil block 2724 to bias to open position (Figure 51).

In use, it is probably favourable around longitudinal tool axis LT-LT rotary surgical end effector 2712.Extremely In a few embodiment, tool mounting portion 2900 is able to receive that and rotates output from corresponding the first of robot system 1000 Motion is so that slender axles assembly 2708 rotates around tool axis LT-LT.As shown in fig. 55, the near-end of the ridge pipe 2740 of hollow 2742 are pivotally supported in holder device 2903 and bearing assembly 2904, and described rack arrangement and bearing assembly are attached to work The tool mounting plate 2902 of tool mounting portion 2900.Swing pinion 2744 is formed at or is attached to the near-end 2742 of ridge pipe 2740, To engage with the rotary drive assembly 2910 being operatively supported on tool mounting plate 2902.In at least one embodiment, When tool mounting portion 2600 is connected to tool rack 1270, rotary transmission gear 2912 is connected to the suitable of tool mounting plate 2602 In corresponding clutch plate or drive element 1304 first on orchestration side.See Figure 28 and 55.Rotary drive assembly 2910 is also Including rotary drive gear 2914, described rotary drive gear and swing pinion 2744 and rotary transmission gear 2912 are to engage Mode and be rotationally supported within tool mounting plate 2902.By logical for the first Spin Control motion from robot system 1000 Cross tool rack 1270 and adapter 1240 be applied to corresponding drive element 1304, thus will by being operably coupled to it and Cause the rotation of rotary transmission gear 2912.The rotation of rotary transmission gear 2912 ultimately results in slender axles assembly 2708(and end Portion executor 2712) rotate (principal rotating motion) around longitudinal tool axis LT-LT.

By making Guan Bi pipe assembly 2750 realize anvil block 2724 relative to nail bin in the upper axially-movable of distal direction " DD " The Guan Bi of 2734.Realize closing pipe 2750 in distal direction by driving nut 2760 to apply Spin Control motion to Guan Bi Axially-movable on " DD ".In various embodiments, rotate close to closing drive shaft 2800 by applying rotary output motion Close and drive nut 2760.As shown in fig. 55, the proximal part 2806 of Guan Bi drive shaft 2800 has and Guan Bi driving assembly The driven gear 2808 of 2920 engagements.In various embodiments, Guan Bi drive system 2920 includes closing travelling gear 2922, when When tool mounting portion 2900 is connected to tool rack 1270, described Guan Bi travelling gear is connected to the adaptation of tool mounting plate 2462 In corresponding driven rotation main body or drive element 1304 second on device side.See Figure 28 and 55.Guan Bi travelling gear 2922 by with Guan Bi gear train (being generally described as 2923) to be supported in the way of engaging.In at least one form, Guan Bi Gear train 2923 includes the first driven Guan Bi gear 2924 being pivotally supported on tool mounting plate 2902.Pass through drive shaft First Guan Bi driven gear 2924 is attached to the second Guan Bi driven gear 2926 by 2928.Second Guan Bi driven gear 2926 and row Star gear assembly 2930 engages.In various embodiments, planetary gear set 2930 includes being pivotally supported at bearing assembly Driven planet Guan Bi gear 2932 in 2904, described bearing assembly is arranged on tool mounting plate 2902.Such as Figure 55 and 55B institute Showing, the proximal part 2806 of Guan Bi drive shaft 2800 is pivotally supported in the proximal part 2742 of ridge pipe 2740 so that from Moving gear 2808 engages with the centre tooth gear teeth 2934 formed on planetary gear 2932.Additionally as shown in Figure 55 A, two other Support gear 2936 be attached to the proximal part 2742 of ridge pipe 2740 or pivotally support relative to the proximal part of described ridge pipe To provide it bearings.This has the layout of planetary gear set 2930 for adapting to ridge by rotary drive assembly 2910 The rotation of axle 2740, allows Guan Bi driven gear 2808 to keep engaging with Guan Bi drive system 2920 simultaneously.It addition, Guan Bi transmission Gear 2922 rotation in a first direction will finally cause Guan Bi drive shaft 2800 and Guan Bi to drive the rotation of nut 2760, this Will eventually lead to anvil block 2724 close, as mentioned above.Otherwise, the rotation in second opposite direction of the Guan Bi travelling gear 2922 will Finally causing Guan Bi to drive nut 2760 rotation in the opposite direction, this will make anvil block 2724 open.

As shown in fig. 55, the near-end 2784 of knife bar 2780 has attached thereto and drives with cutter assembly 2940 driving to engage Threaded shank portion 2786.In various embodiments, threaded shank portion 2786 is by being attached to the bearing of tool mounting plate 2902 2906 pivotally support.This arranges and allows threaded shank portion 2786 to rotate and axially-movable relative to tool mounting plate 2902.Cutter Bar 2780 drives assembly 2940 axially upwardly to advance in distally and proximally side by cutter.The cutter of a kind of form drives assembly 2940 to wrap Including rotary transmission gear 2942, when tool mounting portion 2900 is connected to tool rack 1270, described rotary transmission gear couples The 3rd in main body, clutch plate or drive element 1304 is rotated accordingly on the adapter side of tool mounting plate 2902.Ginseng See Figure 28 and 55.Rotary transmission gear 2942 engages with cutter tooth train (being generally described as 2943).In various embodiments, cutter tooth Train 2943 includes the first rotary drive gear assembly 2944 being pivotally supported on tool mounting plate 2902.First rotates Driven gear assembly 2944 engages with the 3rd rotary drive gear assembly 2946, and described 3rd rotary drive gear assembly is rotatable Be supported on tool mounting plate 2902 and engage with the 4th rotary drive gear assembly 2948, described 4th rotary drive tooth Wheel assembly engages with the threaded portion 2786 of knife bar 2780.Rotary transmission gear 2942 rotation in one direction will cause cutter Bar 2780 is in the upper axially traveling of distal direction " DD ".Otherwise, rotary transmission gear 2942 rotation in the opposite direction will cause Knife bar 2780 moves in a proximal direction.Otherwise, instrument 2700 can be used, as mentioned above.

Figure 56 and 57 shows substantially identical with the instrument 2700 of above-detailed surgical technique and tools embodiment 2700. But, instrument 2700 ' includes pressure transducer 2950, described pressure transducer can to robot controller 1001 provide about Feeding back of the amount of the clamping pressure that anvil block 2724 is subject to.In various embodiments, such as, pressure transducer can include that spring biases Contact switch.For continuous signal, can use and there is on it cantilever beam of strain gauge or there is the dome of strain gauge inside Button cover.Another kind of product form can include the only disconnect switch of load contact needed for known.This layout can include pedestal On dome, wherein this dome is an electrode and pedestal is another electrode.This arranges and allows robot controller 1001 The amount of the clossing pressure being applied to anvil block 2724 by regulation regulates the folder being applied to surgical end-effector 2712 inner tissue The amount of compaction forces.It will be understood by those skilled in the art that this pressure transducer arrange can with as herein described some outside Section's device embodiment and their equivalent construction are efficiently used together.

Figure 58 shows a part for another surgical technique and tools 3000 that effectively can use in conjunction with robot system 1000.Outward Section's instrument 3003 uses one or more airborne motor to think, and the various parts of surgical end-effector cutting device provide power. In at least one non-limiting embodiment, such as, surgical technique and tools 3000 includes outside straight cuts device (not shown) form Section's end effector, its anvil block (not shown) with the above-mentioned type and structure and surgery nail bin arrange (not shown).Surgery work Tool 3000 also includes slender axles (not shown) and the anvil block closed arrangement (not shown) of the above-mentioned type.Thus, except it must be understood that Outside the uniqueness of the various embodiments of surgical technique and tools 3000 and novel properties, the detailed description of the invention of this part will not repeat that The description of a little parts.

In an illustrated embodiment, end effector includes the cutting device 3002 being connected to knife bar 3003.Such as Figure 58 institute Showing, surgical technique and tools 3000 includes that tool mounting portion 3010, described tool mounting portion include can be with Adapter component 1240 ' With the tool mounting plate 3012 of mounting means handing-over, described Adapter component is connected to robot system in above-mentioned various modes 1000.Tool mounting portion 3010 can be operably supported transmission arrangements 3013 thereon.In at least one embodiment In, Adapter component 1240 ' may be with above in the case of adapter 1240 does not use dynamic rotation main body and dish component The Adapter component 1240 of middle detailed description is identical.In other embodiments, Adapter component 1240 ' may be with Adapter component 1240 is identical.Other modification being considered in the various forms of spirit and scopes of the present invention can use one or many Mechanical movement (that is, rotary motion) kind from tool rack part 1270(as described above) is to activate/to activate transmission dress Put layout 3013, the most also use one or more motor in tool mounting portion 3010 to think surgical end-effector One or more miscellaneous parts provide power.It addition, although the end effector of illustrated embodiment includes straight cuts device, but Those of ordinary skill in the art is it will be appreciated that can tie in the case of without departing from the various forms of spirit and scopes of the present invention Close other kinds of surgical end-effector and be efficiently used uniqueness and the novel properties of illustrated embodiment.

In various embodiments, tool mounting plate 3012 can at least accommodate the first percussion motor 3011 and thinks knife bar 3003 Thering is provided percussion and retracting motion, described knife bar is connected to cutting device 3002 or operationally joins with cutting device.Instrument is pacified Dress plate 3012 has a series of electrical connector pin 3014, and described electrical connector pin can be schemed with the slit 1258(in adapter 1240 ' 27) handing-over.This arranges the electronic control circuit 3020 that controller 1001 is surgical technique and tools 3000 allowing robot system 1000 Control signal is provided.Although being described herein interface in conjunction with mechanical coupling element, charge coupled device and magnetic couple element, Should be appreciated that and can use multiple remote measurement form, including infrared, inductive etc..

Control circuit 3020 form with schematic diagram in Figure 58 illustrates.In a kind of form or embodiment, control Circuit 3020 includes that the power supply of battery 3022 form, described battery are connected to break-make solenoid on and off switch 3024.Control circuit 3020 also include that the break-make percussion solenoid 3026 being connected to double-pole switch 3028 is for the direction of rotation controlling motor 3011. Thus, when the controller 1001 of robot system 1000 provides suitable control signal, switch 3024 will allow battery 3022 Electric power is provided for double-pole switch 3028.The controller 1001 of robot system 1000 also will provide suitable for double-pole switch 3028 Signal, thus provide electric power for motor 3011.When expectation percussion surgical end-effector (that is, drives cutting device towards distally 3002 through the tissue being clamped in surgical end-effector) time, double-pole switch 3028 will be in primary importance.When expectation will be cut When cutter tool 3002 bounces back to original position, double-pole switch 3028 will move to the second position by controller 1001.

The various embodiments of surgical technique and tools 3000 also use and are sized to and fire the gear-box that gear train 3031 is combined 3030, at least one non-limiting example, described percussion gear train includes firing travelling gear 3032, and described percussion passes Moving gear engages to generate the desired amount of driving force with percussion driven gear 3034, thus drives cutting device 3002 through tissue And drive in various modes as herein described and form nail.In the embodiment that figure 58 illustrates, driven gear 3034 is connected to The screw shaft 3036 being threadedly engaged with nut arrangements 3038, limits described nut arrangements and carries out axially-movable (by arrow " D " table Show).Nut arrangements 3038 is attached to trigger shaft 3003.Thus, by rotary screw axle 3036 in a first direction in distally The upper cutting device 3002 that drives in direction " DD ", and by rotary screw axle can be in proximal direction in a second opposite direction " PD " upper retraction cutting device 3002.

Figure 59 shows a part for another substantially identical with above-mentioned instrument 3000 surgical technique and tools 3000 ', different Be that driven gear 3034 is attached to drive shaft 3040.Drive shaft 3040 is attached to engaged with the 3rd driven gear 3044 Two travelling gears 3042, described 3rd driven gear engages with the screw 3046 being connected to trigger shaft 3003.

Figure 60 shows another surgical technique and tools 3200 that effectively can use in conjunction with robot system 1000.In this embodiment In, surgical technique and tools 3200 includes the surgical end-effector 3212 of non-restrictive form, and described surgical end-effector includes phase Element portion for the motion of at least one other end effector element portion selectivity between the first and second positions.As Will be described below in further detail, surgical technique and tools 3200 uses airborne motor to think the various of transmission arrangements 3305 Parts provide power.Surgical end-effector 3212 includes the elongated passageway 3222 being operably supported surgery nail bin 3234.Carefully Long-channel 3222 has the near-end 3223 in the slender axles assembly 3208 extending to hollow slidably, the slender axles of described hollow Assembly is connected to tool mounting portion 3300.It addition, surgical end-effector 3212 includes by a pair gudgeon 3225 pivotally Being connected to the anvil block 3224 of elongated passageway 3222, described gudgeon is contained in elongated passageway 3222 in corresponding opening 3229.Axle The distal portions 3209 of assembly 3208 includes opening 3245, when elongated passageway 3222 is relative to the distal portions of shaft assembly 3208 3209 when the upper axially-movable of proximal direction " PD ", and the protuberance 3227 on anvil block 3224 is inserted in described opening to open anvil Seat 3224.In various embodiments, it is possible to use spring (not shown) is to bias to open position by anvil block 3224.

As it has been described above, surgical technique and tools 3200 includes that tool mounting portion 3300, described tool mounting portion include grasping Make ground support transmission arrangements 3305 and with Adapter component 1240 ', the tool mounting plate 3302 of handing-over, described adaptation be installed Device part is connected to robot system 1000 in above-mentioned various modes.In at least one embodiment, Adapter component 1240 ' exists May be with Adapter component 1240 phase being described in detail above in the case of there is no the power plate component that adapter 1240 uses With.In other embodiments, Adapter component 1240 ' may be identical with Adapter component 1240.But, in this embodiment, Because the various parts of surgical end-effector 3212 are all provided electric power, surgery work by the motor in tool mounting portion 3300 Tool 3200 will not use or needs any machinery from tool rack part 1270 (that is, non-electricity) actuating movement to think surgery End effector 3200 parts provide power.Other amendment shapes being considered in the various forms of spirit and scopes of the present invention Formula can use one or more from tool rack part 1270(as described above) mechanical movement with activate/activate one Individual or multiple surgical end-effector parts, the most also use one or more motor in tool mounting portion to think surgery One or more miscellaneous parts of end effector provide power.

In various embodiments, tool mounting plate 3302 can support the first percussion motor 3310 for for actuating device 3305 offer percussion and retracting motions are provided, thus drive the knife bar 3335 of the cutting device 3332 being connected to the above-mentioned type.As Shown in Figure 60, tool mounting plate 3212 has a series of electrical connector pin 3014, described electrical connector pin can with in adapter 1240 ' Slit 1258(Figure 27) handing-over.This arranges the electronics that controller 1001 is surgical technique and tools 3200 allowing robot system 1000 Control circuit 3320,3340 provides control signal.Although existing in conjunction with mechanical coupling element, charge coupled device and magnetic couple element There is described herein interface, it will be appreciated that multiple remote measurement form can be used, including infrared, inductive etc..

In a kind of form or embodiment, first control circuit 3320 includes the first power supply of the first battery 3322 form, Described first battery is connected to the first break-make solenoid on and off switch 3324.First firing control circuit 3320 also includes that first leads to Disconnected percussion solenoid 3326, described first break-make percussion solenoid is connected to the first double-pole switch 3328 to control the first percussion horse Reach the direction of rotation of 3310.Thus, when robot controller 1001 provides suitable control signal, the first switch 3324 will be permitted Permitted the first battery 3322 and provided electric power for the first double-pole switch 3328.Robot controller 1001 will be also the first double-pole switch 3328 provide suitable signal, thus provide electric power for the first percussion motor 3310.When expectation percussion surgical end-effector Time (that is, driving cutting device 3232 towards distally through being clamped in the tissue in surgical end-effector 3212), the first switch 3328 will be arranged on primary importance by robot controller 1001.When cutting device 3232 is bounced back to original position by expectation Time, robot controller 1001 will send suitable control signal so that the first switch 3328 moves to the second position.

The various embodiments of surgical technique and tools 3200 also use the percussion travelling gear 3332 being sized to and be attached to be combined The first gear-box 3330, described percussion travelling gear operationally with percussion gear train 3333 join.In at least one non-limit In property embodiment processed, percussion gear train 333 includes firing driven gear 3334, described percussion driven gear and travelling gear 3332 Engagement is to generate the desired amount of driving force, thus drives cutting device 3232 through tissue and in various modes specifically described herein Drive and form nail.In the embodiment shown in Figure 60, driven gear 3334 is connected to drive shaft 3335, and described drive shaft has The second driven gear 3336 coupled therewith.Second driven gear 3336 is propped up in the way of engaging with the 3rd driven gear 3337 Support, described 3rd driven gear and the 4th driven gear 3338 engage.4th driven gear 3338 is near with the screw thread of knife bar 3235 Side part 3339 engages, and limits described knife bar and carries out axially-movable.Thus, by rotating driveshaft 3335 in a first direction, Drive cutting device 3232 rotating driveshaft 3335, cutting device in a second opposite direction distal direction " DD " is upper 3232 can be at the upper retraction of proximal direction " PD ".

As it has been described above, by making elongated passageway 3222 axially-movable control anvil block 3224 relative to slender axles assembly 3208 Open and close.The axially-movable of elongated passageway 3222 is controlled by closing control system 3339.In various embodiments, Guan Bi Control system 3339 includes closing axle 3340, and described Guan Bi axle has and the screw thread Guan Bi hollow that is threadably engaged of bar 3342 Thread head 3341.Thread head 3341 is pivotally supported in ridge axle 3343, and described ridge axle is operationally installed with instrument Part 3300 joins and extends through a part for shaft assembly 3208, as shown in the figure.Closed-system 3339 also includes closing control Circuit 3350, described Guan Bi control circuit includes the second source of the second battery 3352 form, and described second battery is connected to Two break-make solenoid on and off switch 3354.Guan Bi control circuit 3350 also includes the second break-make percussion solenoid 3356, described the Two break-make percussion solenoids are connected to the second double-pole switch 3358 to control the rotation of the second Guan Bi motor 3360.Thus, work as machine When device people's controller 1001 provides suitable control signal, second switch 3354 is second bipolar to open by allowing the second battery 3352 3354 offer electric power are provided.Robot controller 1001 also will provide suitable signal for the second double-pole switch 3358, thus is Two motor 3360 provides electric power.When expectation Guan Bi anvil block 3224, second switch 3348 will be in primary importance.When expectation is opened During anvil block 3224, second switch 3348 will move to the second position.

The various embodiments of tool mounting portion 3300 also use the second gear-box being connected to close travelling gear 3364 3362.Guan Bi travelling gear 3364 engages with Guan Bi gear train 3363.In various non-restrictive form, close gear train 3363 Including being attached to close the Guan Bi driven gear 3365 of drive shaft 3366.With the Guan Bi shaft gear 3360 being attached to Guan Bi axle 3340 The Guan Bi travelling gear 3367 of engagement is also attached to close drive shaft 3366.Figure 60 shows that end in an open position performs Device 3212.As it has been described above, when screw thread Guan Bi bar 3342 is in the position shown in Figure 60, spring (not shown) is by anvil block 3224 Bias to open position.When expectation Guan Bi anvil block 3224, robot controller 1001 will start the second motor 3360 to rotate Guan Bi axle 3340, thus at proximal direction ' PD ' upper tractive screw thread Guan Bi bar 3342 and passage 3222.When anvil block 3224 and axle When the distal portions 3209 of 3208 contacts, anvil block 3224 is switched to make position.

The method that now will describe operation surgical technique and tools 3200.Once tool mounting portion 3302 is operably linked to machine The tool rack 1270 of people's system 1000, end effector 3212 can be positioned adjacent to be cut and sew up by robot system 1000 The position of target tissue.If anvil block 3224 is not yet in open position, then robot controller 1001 can start the second Guan Bi Motor 3360 is to drive passage 3222 to the position shown in Figure 60 in a distal direction.Once robot controller 1001 leads to The one or more sensors crossed in end effector and/or tool mounting portion 3300 determine surgical end-effector 3212 The most in an open position, then robot controller 1001 can be that surgeon provides signal, thus notifies that surgeon subsequently may be used Guan Bi anvil block 3224.Once target tissue is positioned between the anvil block 3224 and surgery nail bin 3234 opened, then surgeon can be led to Cross startup robot controller 1001 to apply Guan Bi control signal to start closing course to the second Guan Bi motor 3360.Second Guan Bi motor 3360 applies rotary motion to Guan Bi axle 3340, with tractive passage 3222 in proximal direction " PD " until anvil block 3224 are switched to make position.Once robot controller 1001 is by surgical end-effector 3212 and/or and robot One or more sensors in the tool mounting portion 3300 of control system connection determine that anvil block 3224 has moved to close position Put, then motor 3360 can be stopped.Then, the trigger on controller 1001, button etc. can be started by surgeon manual Start to fire process, or controller 1001 can automatically start to fire process.

In order to start to fire process, robot controller 1001 starts percussion motor 3310 to drive in distal direction " DD " Dynamic trigger shaft 3235 and cutting device 3232.Once robot controller 1001 by surgical end-effector 3212 and/or Sensor (not shown) in motor part 3300 determines that cutting device 3232 has moved to the knot in surgery nail bin 3234 Bundle position, then robot controller 1001 can be that surgeon provides indication signal.Then, surgeon can manually boot first Motor 3310 is with cutting device 3232 to the original position that bounces back, or robot controller 1001 can be automatically activated the first motor 3310 with the cutting element 3232 that bounces back.

Embodiment shown in Figure 60 does not include actuated articulation joints.Figure 61 and 62 shows and is respectively provided with end effector 3212 ', 3212 " surgical technique and tools 3200 ' and 3200 ", described end effector can with there are all kinds disclosed herein The slender axles embodiment of actuated articulation joints be used together.Such as, as shown in Figure 61, screw thread Guan Bi axle 3342 passes through flexible cable Line or other flexible members 3345 are connected to the near-end 3223 of elongated passageway 3222.Actuated articulation joints (not shown) is at slender axles Position in assembly 3208 will be consistent with flexible member 3345, so that flexible member 3345 adapts to this joint motions.It addition, In the above embodiments, flexible member 3345 is pivotally attached to the proximal part 3223 of elongated passageway 3222 so that flexible structure Part 33345 rotates relative to, thus prevents flexible member 3229 relative to passage 3222 " winding ".Although it is not shown, can lead to Cross knife bar in the above described manner in one carry out drive cutting element, described knife bar is also suitable for the joint motions of slender axles assembly. Figure 62 shows substantially identical with above-mentioned surgical end-effector 3212 surgical end-effector 3212 ", except for the difference that spiral shell Stricture of vagina Guan Bi bar 3342 is attached to close nut 3347, limits described Guan Bi nut and only axially transports in slender axles assembly 3208 Dynamic.It is attached to flexible member 3345 close nut 3347.This arranges and also prevents screw thread from closing bar 3342 wound flexible component 3345.Flexible knife bar 3235 ' can be used to be beneficial to surgical end-effector 3212 " joint motions.

Above-mentioned surgical technique and tools 3200,3200 ' and 3200 " may be used without in cutting device embodiment as herein described any One.As it has been described above, by tractive elongated passageway to each end closing these instruments with the distal contact of slender axles assembly The anvil block of portion executor.Therefore, once target tissue is between nail bin 3234 and anvil block 3224, and robot controller 1001 can be opened Begin in inside tractive passage 3222 to shaft assembly 3208.But, in various embodiments, in order to prevent end effector 3212, 3212 ', 3212 " making target tissue move along with end effector in this closing course, controller 1001 can make tool rack simultaneously Motion and finally make movement of tool with compensate elongated passageway 3222 motion so that target tissue be actually clamped in anvil block with Do not move between elongated passageway.

Figure 63-65 show in addition to difference described below substantially with above-mentioned surgical technique and tools 3200 " identical another One surgical technique and tools embodiment 3201.In this embodiment, screw thread Guan Bi bar 3342 ' has the groove of variable pitch.More specifically Say, as shown in Figure 64, Guan Bi bar 3342 ' there is distally trench portions 3380 and nearside trench portions 3382.Distally groove Points 3380 and nearside trench portions 3382 can engage with the lug 3390 in the thread head 3341 ' being supported on hollow.As Shown in Figure 64, distally trench portions 3380 has the pitch more tiny than trench portions 3382.Therefore, this variable pitch is arranged logical Cross the joint between lug 3390 and nearside trench portions 3382 and allow elongated passageway 3222 to be led with First Speed or speed Move in axle 3208.When lug 3390 engages distally trench portions, passage 3222 will be drawn into second speed or speed In axle 3208.Because nearside trench portions 3382 is more more coarse than distally trench portions 3380, First Speed will be greater than second speed. This arranges for accelerating the first closure of end effector for manipulating tissue, is then being accurately located at wherein by tissue Afterwards, suitably clamping tissue is generated with the size to the closing force that tissue cuts and sews up.Therefore, anvil block 3234 initially with Less power quick-make, closes more slowly then as anvil block and applies bigger closing force.

Tissue being clamped in desired location completely before cutting and sewing up, available surgical end-effector is beaten Open and close resultant motion is to allow user use end effector grasping and manipulating tissue.Such as, user can be in this process Repeatedly opening and close surgical end-effector makes tissue be maintained at the suitable of desired location to be positioned at by end effector Position.Therefore, at least some embodiments, in order to generate the high capacity for percussion, fine thread may need up to 5 Fully rotating to generate necessary load to 10 times.In some cases, such as, this action may take up to 2 to 5 seconds.As Fruit also spends the isometric time open and close end effector during location/tissue manipulation every time, then retaining tips is held Row device may spend the long time.If this occurs, user may be abandoned using end effector often to use The grasper device of rule.Grasper etc. is used can adversely to increase the cost relevant to completing surgical operation.

Above-described embodiment uses one or more batteries to think for driving the motor of end effector parts to provide electric power. The startup of motor is controlled by robot system 1000.In alternative embodiment, power supply can include by robot system 1000 alternating currents " AC " provided for motor.That is, alternating current can be by being that robot system 1000 carries by tool rack and adapter System supply for electric power.In other embodiments, power line or rope could attach to tool mounting portion 3300 to provide required From single alternating current power supply or the electric energy of DC source.

In use, controller 1001 applies principal rotating motion to closing axle 3340(Figure 60) elongated with axially inwardly tractive In passage 3222 to slender axles assembly 3208, and make anvil block move to centre position from primary importance with first rate, described in Between position be transitioned into the point of nearside trench portions 3382 corresponding to wherein distally trench portions 3380.Further rotary motion is executed Be added to close axle 3340 will make anvil block relative to surgery nail bin therefrom between position move to make position.When in the close position Time, tissue that is to be cut and that sew up is suitably clamped between anvil block and surgery nail bin.

Figure 66-69 shows another surgical technique and tools embodiment 3400 of the present invention.This embodiment includes installing from instrument The slender axles assembly 3408 that part 3500 extends.Slender axles assembly 3408 includes rotatable proximal closure tube segment 3410, described Rotatable proximal closure tube segment is rotatably connected on proximal spine member 3420, and this proximal spine member is rigidly coupled to work The tool mounting plate 3502 of tool mounting portion 3500.Proximal spine member 3420 has far-end 3422, and described far-end is connected to surgery The elongate channel portion 3522 of end effector 3412.Such as, at least one embodiment, elongate channel portion 3522 has Distal portions 3523, described distal portions " engages " far-end 3422 of ridge component 3420 with the form of hook.Elongated passageway 3522 energy Enough support surgery nail bin 3534 therein.This embodiment can use in various cutting device embodiment disclosed herein Cut off the tissue being clamped in surgical end-effector 3412, and by the nail percussion in nail bin 3534 to the tissue cut off.

Surgical end-effector 3412 has the anvil block being pivotally coupled to elongated passageway 3522 by a pair gudgeon 3525 3524, described gudgeon is contained in elongated passageway 3522 in corresponding opening 3529.Anvil block 3524 passes through distal closure tube segment 3430 move between open position (Figure 66) and make position (Figure 67-69).The distal portions of distal closure tube segment 3430 3432 include opening 3445, when distal closure tube segment 3430 carries out axially-movable relative to it, and the protuberance on anvil block 3524 3527 are inserted in described opening to open and close anvil block 3524.In various embodiments, opening 3445 is shaped so that When closing pipeline section 3430 and moving in a proximal direction, Guan Bi pipeline section 3430 makes anvil block 3524 be switched to open position.Except this it Outward or alternatively, spring (not shown) can be used so that anvil block 3524 is biased to open position.

As shown in Figure 66-69, distal closure tube segment 3430 includes lug 3442, and described lug extends to from its far-end 3440 Carry out screw thread with the variable pitch groove/screw thread 3414 formed in the far-end 3412 of rotatable proximal closure tube segment 3410 to connect Close.Variable pitch groove/screw thread 3414 has distal part 3416 and portions of proximal 3418.Distally groove/threaded portion 3416 Pitch less than the pitch of nearside groove/threaded portion 3418.Additionally as shown in Figure 66-69, by axially retaining device pin 3450 Limit distal closure tube segment 3430 and carry out axially-movable relative to ridge component 3420, described in axially retain device pin and be contained in ridge component In axial slots 3424 in the far-end of 3420.

As it has been described above, open and close anvil block 2524 by rotating proximal closure tube segment 3410.Variable pitch screw threaded arrangement Allowed by the joint between lug 3442 and nearside groove/threaded portion 3418 with First Speed or speed in distal direction " DD " is upper drives distal closure tube segment 3430.When lug 3442 engages distally groove/threaded portion 3416, will be with second speed Or speed drives distal closure tube segment 3430 in a distal direction.Because nearside groove/threaded portion 3418 is than distally groove/spiral shell Stricture of vagina part 3416 is more coarse, and First Speed will be greater than second speed.

In at least one embodiment, what tool mounting portion 3500 was able to receive that from robot controller 1001 is corresponding The first rotary motion, and this first convert rotational motion is become principal rotating motion, so that rotatable proximal closure tube segment 3410 rotate around longitudinal tool axis LT-LT.As shown in figure 70, the rotatable twelve Earthly Branches of near-end 3460 of proximal closure tube segment 3410 Support is in being attached to the rack arrangement 3504 of tool mounting plate 3502 of tool mounting portion 3500.Swing pinion 3462 is formed at Or be attached to close pipeline section 3410 near-end 3460, with the rotation driving group being operatively supported on tool mounting plate 3502 Part 3470 engages.In at least one embodiment, when tool mounting portion 3500 is connected to tool rack 1270, rotary drive tooth Take turns 3,472 first be connected on the adapter side of tool mounting plate 3502 in corresponding clutch plate or drive element 1304.Ginseng See Figure 28 and 70.Rotary drive assembly 3470 also includes rotary drive gear 3474, described rotary drive gear and swing pinion 3462 and rotary transmission gear 3472 by engagement in the way of and be rotationally supported within tool mounting plate 3502.Will be from machine First Spin Control of people's controller 1001 moves through tool rack 1270 and adapter 1240 is applied to corresponding drive element 1304, thus the rotation of rotary transmission gear 3472 will be caused by being operably coupled to it.Rotary transmission gear 3472 Rotation finally cause the rotation of Guan Bi pipeline section 3410, thus open and close anvil block 3524, as mentioned above.

As it has been described above, surgical end-effector 3412 uses the cutting device of the above-mentioned type and structure.Figure 70 shows use Drive a kind of form of assembly 3480 in the cutter axially advancing knife bar 3492, described knife bar is attached to this cutting device.A kind of shape The cutter of formula drives assembly 3480 to include rotary transmission gear 3482, when tool drives part 3500 is connected to tool rack 1270, Described rotary transmission gear is connected on the adapter side of tool mounting plate 3502 in corresponding clutch plate or drive element 1304 The 3rd.See Figure 28 and 70.Cutter drive that assembly 3480 also includes being pivotally supported on tool mounting plate 5200 the One rotary drive gear assembly 3484.First rotary drive gear assembly 3484 is nibbled with the 3rd rotary drive gear assembly 3486 Close, described 3rd rotary drive gear assembly be pivotally supported on tool mounting plate 3502 and with the 4th rotary drive gear Assembly 3488 engages, the threaded portion of described 4th rotary drive gear assembly and the drive shaft assembly 3490 being connected to knife bar 3492 Divide 3494 engagements.Rotary transmission gear 3482 rotates in a second rotational direction will cause drive shaft assembly 3490 and knife bar 3492 In the upper axially traveling of distal direction " DD ".Otherwise, rotary transmission gear 3482 in secondary direction of rotation (with the second direction of rotation phase Instead) upper rotation will cause drive shaft assembly 3490 and knife bar 3492 to move in a proximal direction.

Figure 71-80 shows and can implement in conjunction with another surgical technique and tools 3600 of the present invention that robot system 1000 uses Example.As shown in Figure 71, instrument 3600 includes the end effector of disposable loading unit 3612 form.Can make by combination tool 3600 The various forms of disposable loading unit at the most entitled " End Effector Arrangements For a Surgical Cutting and Stapling Instrument " U.S. Patent Application Publication US2009/0206131A1 in Open, the disclosure of which is hereby incorporated herein by full.

In at least one form, disposable loading unit 3612 includes that anvil assembly 3620, described anvil assembly are propped up Support is to pivot traveling relative to the carrier 3630 being operably supported nail bin 3640 therein.Mounting assembly 3650 joins pivotally Receive storehouse carrier 3630, so that carrier 3630 pivots around joint motions axis AA-AA relative to longitudinal tool axis LT-LT. Seeing Figure 76, mounting assembly 3650 includes mounting portion, top 3652 and lower mounting part 3654.Each mounting portion includes Threaded bore 3656 on each side thereof, being dimensioned so as to of described threaded bore accommodates bolt (not shown) with solid Determine the near-end of carrier 3630.The pivot member 3658 of a pair centralized positioning passes through a pair coupling member 3660 in mounting portion, top And extend between lower mounting part, described coupling member and the distal engagement of housing portion 3662.Each coupling member 3660 All including interlocking portions of proximal 3664, described interlocking portions of proximal can be contained in the near-end of housing portion 3662 formation In groove 3666, so that mounting assembly 3650 and housing portion 3662 are maintained at the longitudinally fixed position relative to it.

In various forms, the housing portion 3662 of disposable loading unit 3614 includes being included in external shell 3674 First half shell 3670 and lower half shell 3672.The near-end of first half shell 3670 includes for releasably connecing Close slender axles 3700 and insert the junction piece 3676 of most advanced and sophisticated 3678.Junction piece 3676 forms bayonet type with the far-end of slender axles 3700 Coupling, this will be described below in further detail.Shell half portion 3670,3672 limits to be used for slidably receiving and axially drives The passage 3674 of dynamic assembly 3680.Being sized to of second joint motion couplings 3690 is slidably housed within shell half In the slit 3679 formed between portion 3670,3672.A pair bursting diaphragm 3691 is positioned adjacent to and axially driving assembly 3680 The far-end of the adjacent housing portion 3662 of far-end, with prevent from driving during the joint motions of carrier 3630 assembly 3680 to Outer protrusion.

In various embodiments, second joint motion couplings 3690 includes at least one long and thin metal plate.Preferably, heap Two or more metallic plates folded are to form connector 3690.The near-end of articulation link 3690 includes hook portion 3692, Described hook portion can engage the first articulation link 3710 extending through slender axles 3700.Second joint motion connects The far-end of part 3690 includes the collar 3694, and being dimensioned so as to of the described collar engages formed in mounting assembly 3650 prominent Go out.Highlight and pivot pin 3658 lateral alternate so that the linear movement of second joint motion couplings 3690 promotes mounting assembly 3650 pivot around pivot pin 3658, so that carrier 3630 carries out joint motions.

In various forms, axially driving assembly 3680 includes elongated driving crossbeam 3682, and described elongated driving is horizontal Beam includes distally work 3684 and nearside bonding part 3685.Driving crossbeam 3682 can be by single material piece or the most multiple The sheet material of stacking is made.Bonding part 3685 includes pair of engaging finger piece, being sized to and energy of described engagement finger Enough keep slit accordingly a pair with what mounting means joint drive member 3686 was formed.Drive member 3686 includes that nearside leads to Road junction 3687, when the near-end of disposable loading unit 3614 engages with the slender axles 3700 of surgical technique and tools 3600, described nearside Passway can accommodate the far-end 3722(of control bar 2720 and see Figure 80).

See Figure 71 and 78-80, in order to use surgical technique and tools 3600, first disposable loading unit 3612 is fixed to carefully The far-end of major axis 3700.Should be appreciated that what surgical technique and tools 3600 can include joint motions or non-joint motions disposably loads list Unit.In order to disposable loading unit 3612 is fixed to slender axles 3700, the far-end 3722 controlling bar 3720 is inserted into once Property loading unit 3612 insertion tip 3678 in, and insert on most advanced and sophisticated 3678 directions that arrow " A " illustrates in Figure 78 vertical To the far-end sliding into slender axles 3700 so that the hook portion 3692 of second joint motion couplings 3690 is in slender axles 3700 Passage 3702 in slide.Each junction piece 3676 will align in slender axles 3700 respective passage (not shown).Work as hook portion When dividing the proximal wall 3704 of 3692 joint passages 3702, disposable loading unit 3612 arrow " B " in Figure 78 and 80 illustrates Side rotates up so that the hook portion 3692 of second joint motion couplings 3690 moves to and the first articulation link The finger piece 3712 of 3710 engages." bayonet type " connection is formed in the junction piece 3676 also circular passage 3703 in slender axles 3700 Connect.In the rotary course of loading unit 3612, jack-up surface 3732(Figure 78 of junction piece 3676 engageable barrier 3730), with head Maneuvering board 3730 on the direction that first arrow " C " illustrates in Figure 78 is to be locked in engagement member 3734 and controlling the recessed of bar 3720 In groove 3721, thus prevent from controlling bar 3720 lengthwise movement in the attach process of disposable loading unit 3612.In final journey In the rotary course of degree, junction piece 3676 departs from from jack-up surface 3732 to allow baffle plate 3730 arrow " D " among Figure 77 and 80 Move after engagement member 3734 on the direction illustrated, thus again allow to control bar 3720 lengthwise movement.Although it is above-mentioned Attachment method reflects handles disposable loading unit 3612 relative to slender axles 3700, but those of ordinary skill in the art It will be appreciated that disposable loading unit 3612 may be supported on fixed position, and robot system 1000 can be relative to disposably Loading unit 3612 handles elongate shaft portion 3700, thus realizes above-mentioned connection process.

Figure 81 shows another the disposable loading unit can being attached in the bayonet type layout with slender axles 3700 ' 3612 ', described slender axles are substantially identical with axle 3700 in addition to hereinafter described difference.As shown in Figure 81, slender axles 3700 ' There is its at least one of slit 3705 of extension, and described slit can accommodate junction piece 3676 therein.In various realities Executing in example, disposable loading unit 3612 ' includes the arm 3677 extended from it, before disposable loading unit 3612 ' rotates, Described arm can align with the junction piece 3676 extended from housing portion 3662 or at least substantially align.In at least one embodiment In, such as, when disposable loading unit 3612 ' is inserted in slender axles 3700 ', arm 3677 and junction piece 3676 can be plugged into In slit 3705 in slender axles 3700 '.When disposable loading unit 3612 ' rotates, arm 3677 can be limited in fully In slit 3705 so that arm can be held in position in by slit 3705, but junction piece 3676 can be located such that it In being not limited to slit 3705 and can rotate relative to arm 3677.When, upon rotating, the hook portion of articulation link 3690 3692 engage with the first articulation link 3710 extending through slender axles 3700 '.

The additive method that disposable loading unit is connected to elongated the tip of the axis can be used.Such as, such as Figure 82 and 83 institute Show, disposable loading unit 3612 " can include can be with slender axles 3700 " the connector part that engages of connector part 3740 3613.In at least one embodiment, connector part 3613 can include can highlighting with at least one of connector part 3740 And/or at least one prominent and/or groove of ditch slot fit.In at least one this type of embodiment, connector part can include The dovetail of cooperation.In various embodiments, connector part can be interlocked with one another, and prevent or at least suppress disposable Loading unit 3612 " carry out distally and/or proximal movement along axis 3741.In at least one embodiment, axially driving group The far-end of part 3680 ' can include that aperture 3681, described aperture can accommodate prominent 3721 extended from control bar 3720 '.Respectively In kind of embodiment, this layout can allow disposable loading unit 3612 " not with group on axis 3741 conllinear or parallel direction Install to slender axles 3700.Although it is not shown, axially driving assembly 3680 ' and control bar 3720 can include that any other is the most prominent Go out with aperture arrangement to be operatively connected to one another.The most in this embodiment, the first articulation link 3710 is operable Ground engages with second joint motion couplings 3690.

As shown in Figure 71 and 84, surgical technique and tools 3600 includes tool mounting portion 3750.Tool mounting portion 3750 includes The tool mounting plate 3751 of tool drives assembly 1010 can be attached to.Tool mounting portion is operably supported transmission thereon Device arranges 3752.In use, disposable loading unit is rotated around the longitudinal tool axis limited by slender axles 3700 3612 be probably favourable.In at least one embodiment, transmission arrangements 3752 includes the transmission assembly 3753 rotated, institute The transmission assembly stating rotation is able to receive that the corresponding rotation output of the tool drives assembly 1010 from robot system 1000 Motion, and this rotary output motion is changed into Spin Control motion so that slender axles 3700(and disposable loading unit 3612) Rotate around longitudinal tool axis LT-LT.As shown in figure 84, the near-end 3701 of slender axles 3700 is pivotally supported at support cloth Putting in 3754, described rack arrangement is attached to the tool mounting plate 3751 of tool mounting portion 3750.Swing pinion 3755 is formed In or be attached to the near-end 3701 of slender axles 3700, with the rotary teeth wheels being operatively supported on tool mounting plate 3751 Part 3756 engages.In at least one embodiment, when tool mounting portion 3750 is connected to tool drives assembly 1010, rotate Travelling gear 3757 is driveably connected on the adapter side of tool mounting plate 3751 corresponding clutch plate or drive element 1304 In first.Rotate transmission assembly 3753 also include rotary drive gear 3758, described rotary drive gear with rotation Gear 3755 and rotary transmission gear 3757 are rotationally supported within tool mounting plate 3751 in the way of engagement.Will be from First rotary output motion of robot system 1000 is applied to corresponding drive element 1304 by tool drives assembly 1010, Thus the rotation of rotary transmission gear 3757 will be caused by being operably coupled to it.The rotation of rotary transmission gear 3757 Finally cause slender axles 3700(and disposable loading unit 3612) rotate (main rotation fortune around longitudinal tool axis LT-LT Dynamic).

As shown in figure 84, drive shaft assembly 3760 is connected to control the near-end of bar 2720.In various embodiments, control Bar 2720 drives actuating device 3762 axially upwardly to advance in distally and proximally side by cutter/Guan Bi.A kind of cutter/Guan Bi of form Assembly 3762 is driven to include rotary transmission gear 3763, when tool mounting portion 3750 is connected to tool rack 1270, described rotation Turn travelling gear and be connected to corresponding driven rotatable body part, dish or element on the adapter side of tool mounting plate 3751 In 1304 second.Rotary drive gear 3763 drives with gear train (being generally described as 3764) and engages.In at least one shape In formula, gear train 3764 also includes the first rotary drive gear assembly being pivotally supported on tool mounting plate 3751 3765.First rotary drive gear assembly 3765 engages with the second rotary drive gear assembly 3766, described second rotary drive Gear assembly is pivotally supported on tool mounting plate 3751 and engages with the 3rd rotary drive gear assembly 3767, described 3rd rotary drive gear assembly engages with the threaded portion 3768 of drive shaft assembly 3760.Rotary transmission gear 3763 is second Rotate in direction of rotation to cause drive shaft assembly 3760 and control bar 2720 and the most axially advance in distal direction " DD ".Otherwise, Rotary transmission gear 3763 secondary direction of rotation (contrary with the second direction of rotation) upper rotate will cause drive shaft assembly 3760 and Control bar 2720 to move in a proximal direction.When controlling bar 2720 and moving in a distal direction, it drives it to drive towards distally Crossbeam 3682 and work 3684 are through surgery nail bin 3640.When work 3684 drives towards distally, it is operatively engaged Anvil block 3620 is to be switched to make position by anvil block.

Can control to move to the first articulation link 3710 by applying axial joint motions and second joint moves Connector 3690 makes storehouse carrier 3630 optionally carry out joint motions around joint motions axis AA-AA.In various enforcements In example, transmission arrangements 3752 also includes the joint motions driver being operatively supported on tool mounting plate 3751 3770.More particularly and combine Figure 84 and can be seen that, it is possible to the pass operationally engaged with the first articulation link 3710 The proximal part 3772 of joint motion drive shaft 3771 extends through swing pinion 3755 and is rotationally coupled to shift unit tooth bar Gear 3774, described shift unit rack pinion is slidably attached to tool mounting plate 3751 through slit 3775.Joint motions Driver 3770 also includes shift unit travelling gear 3776, when tool mounting portion 3750 is connected to tool rack 1270, described Shift unit travelling gear is connected on the adapter side of tool mounting plate 3751 in corresponding clutch plate or drive element 1304 3rd.Joint motions drive assembly 3770 also to include shift unit driven gear 3778, described shift unit driven gear and displacement Device travelling gear 3776 and shift unit rack pinion 3774 are rotationally supported within tool mounting plate 3751 in the way of engagement On.The 3rd rotary output motion from robot system 1000 is applied to the most driven by tool drives assembly 1010 Element 1304, thus the rotation of shift unit travelling gear 3776 will be caused by being operably coupled to it.Shift unit transmission The rotation of gear 3776 finally causes shift unit rack-and-pinion 3774 and the axially-movable of joint motions drive shaft 3771.Joint is transported What shift unit travelling gear 3776 was rotated by robot system 1000 depended in the direction axially advanced of dynamic drive shaft 3771 Direction.Therefore, shift unit travelling gear 3776 rotation in the first rotational direction will cause joint motions drive shaft 3771 to exist Axially-movable in proximal direction " PD " also causes storehouse carrier 3630 around joint motions axis AA-AA pivot in a first direction Turn.Otherwise, the shift unit travelling gear 3776 rotation in the second direction of rotation (contrary with the first direction of rotation) will cause pass The joint motion drive shaft 3771 axially-movable in distal direction " DD ", thus cause storehouse carrier 3630 around joint motions axis AA-AA pivots in the opposite direction.

Figure 85 shows another surgical technique and tools 3800 embodiment of the present invention that can use in conjunction with robot system 1000. As shown in Figure 85, surgical technique and tools 3800 includes the surgical end-effector 3812 of straight cuts device 3814 form, and described straight line is cut Cutter uses the parts that various cables drive.The straight cuts device that various forms of cables drive is the most entitled The United States Patent (USP) of " Surgical Stapler With Universal Articulation and Tissue Pre-Clamp " 7,726,537 and entitled " Cable Driven Surgical Stapling and Cutting Instrument With Improved Cable Attachment Arrangements " U.S. Patent Application Publication US2008/0308603A1 in public Opening, described disclosure is all hereby incorporated herein by full.This type of straight cuts device 3814 can be referred to as " disposable loading unit ", because it is designed to be dropped after a single use.But, various embodiments of the present invention each Plant the end effector use that unique and novel layout also can drive in conjunction with reusable cable.

As shown in Figure 85, at least one form, straight cuts device 3814 includes being operably supported surgery therein The elongated passageway 3822 of nail bin 3834.Anvil block 3824 is pivotally supported to move relative to surgery nail bin 3834.Anvil block 3824 Having the jack-up surface 3825 that can interact with pre-clamping lining ring 3840, described pre-clamping lining ring is supported for relative to top Play surface and carry out axially-movable.By end effector 3814 and the slender axles assembly 3808 being attached to tool mounting portion 3900 Connect.In various embodiments, Guan Bi cable 3850 can be used so that lining ring 3840 will be clamped in advance towards distal movement to jack-up surface 3825 and top, to close anvil block 3824 relative to surgery nail bin 3834 and to compress tissue therebetween.Preferably, Guan Bi cable 3850 are attached to pre-clamping lining ring 3840 at point 3841 or near point 3841, and feedthrough anvil block 3824(or at anvil block 3824 The lower section of portions of proximal) in passage and proximally feedthrough axle 3808.The Guan Bi cable 3850 actuating in proximal direction " PD " Pre-clamping lining ring 3840 is forced to head on jack-up surface 3825 towards distally to close anvil block 3824 relative to nail bin groupware 3834.Can adopt With gigback, such as, the (not shown) such as spring, cable system is to be back to reopen anvil block by clamping lining ring 3840 in advance The pre-clamping direction of 3824.

The shape of slender axles assembly 3808 can be cylindrical, and limits passage 3811, and the size of described passage can It designed to be able to accommodate pipe adapter 3870.See Figure 86.In various embodiments, pipe adapter 3870 can be with slender axles The inner passage of 3808 is slidably received in the way of frictional fit joint.The outer surface of pipe adapter 3870 may also include to A few mechanical interface, such as, otch or recess 3871, described otch or recess are oriented as and are arranged on inner passage 3811 Inner rim on corresponding mechanical interface, the projection such as extended radially inwardly or ratchet (not shown) coordinate, with by Guan Shi Orchestration 3870 locks onto slender axles 3808.In various embodiments, the far-end of pipe adapter 3870 can include a pair relative convex Edge 3872a and 3872b, which defines the cavity for receiving pivot block 3873 the most pivotally.Each flange 3872a and 3872b can include that aperture 3874a and 3874b, described aperture are oriented as accommodating the aperture that extends through in pivot block 3873 Pivot pin 3875, to allow pivot block 3873 to move pivotally around the axis vertical with longitudinal tool axis " LT-LT ".Passage 3822 can be made up of two upwardly extending flange 3823a, 3823b, have and be sized in described upwardly extending flange The aperture of pivot pin 3827 can be accommodated.Then, pivot pin 3875 is installed through the aperture in pivot block 3873, to allow surgery End effector 3814 rotates around " Y " axle in given surgical procedures when needed.Pivot block 3873 is along " Z " axle Rotation around pin 3875 makes surgical end-effector 3814 rotate around " Z " axle.See Figure 86.In the reality without departing from the present invention In the case of matter and scope, can effectively use and elongated passageway 3822 is fastened to the additive method on pivot block 3873.

Can be assembled and be arranged in elongated passageway 3822 in preparation or assembling process Chinese and foreign department nail bin 3834, and as outward The part sale of section's end effector 3812, or surgery nail bin 3834 is designed to be selectively installed at carefully when needed Long-channel 3822 is interior and individually sells, such as the Replacement Part being intended for single use, interchangeable or disposable nail bin groupware.Example As, surgical end-effector 3812 is attached to the slender axles assembly of disposable surgical stapling device pivotally, operatively or integratedly On the far-end 3809 of 3808 in the range of the disclosure.It is known that use or used disposable loading unit 3814 Can remove from slender axles assembly 3808 and replace with untapped disposable unit.Once by that do not expend or untapped nail Storehouse 3834 is arranged in elongated passageway 3822, then straight cuts device 3814 may also preferably include actuator, the most dynamically presss from both sides Tight component 3860, sliding part 3862 and nail pusher (not shown) and nail (not shown).See Figure 86.

In various embodiments, dynamic clamping component 3860 is connected with sliding part 3862, such as, installs and leans against sliding part Go up the most coupled or joined integrally and/or lean against behind.It is contemplated that dynamically clamping component 3860 can have connected Or integrated jack-up wedge or jack-up surface, or pushed away by the distal anterior surface of jack-up wedge or jack-up surface Dynamic.In various embodiments, dynamic clamping component 3860 can include that having horizontal aperture 3864(pin 3865 can be installed or installed at Top 3863, central support or extension upwards 3866 wherein) and essentially T-shaped base flange 3867, institute State each several part to coordinate to keep dynamic slidably along preferable cutting path in the longitudinally distal motor process of sliding part 3862 State clamping component 3860.Front cutting blade 3868(is here for blade 3869) be sized to lean against the slit of nail bin groupware 3834 In 3835, and just make separate tissue once sew up.As used herein, term " knife assembly " can include above-mentioned dynamic clamping structure Part 3860, cutter 3869 and sliding part 3862 or other cutter/crossbeam/sliding part drive arrangement and cutting device are arranged.It addition, this Bright various embodiments can use knife assembly/cutting device to arrange, described knife assembly/cutting device is arranged can be completely supported at nail In storehouse 3834 or local support or is all supported in elongated passageway 3822 in nail bin 3834 and elongated passageway 3822.

In various embodiments, assembly 3870 can be driven to drive on nearside and distal direction by cable and dynamically clamp structure Part 3860.In a non-restrictive form, cable drives assembly to include a pair propelling cable 3880,3882 and percussion cable 3884.Figure 87 and 88 shows the cable 3880,3882,3884 of diagrammatic form.As shown in those figures, first advances cable 3880 It is operatively supported on the first distally cable transition supporter 3885 and the first nearside cable transition supporter 3886, described One distally cable transition supporter can include the such as belt pulley, bar, capstan winch etc. being attached to the far-end of elongated passageway 3822, described First nearside cable transition supporter can include the such as belt pulley, bar, capstan winch etc. being operably supported by elongated passageway 3822. First advances the far-end 3881 of cable 3880 to be attached to dynamic clamp assembly 3860.Second advances cable 3882 to be operably supported On the second distally cable transition supporter 3887 and the second nearside cable transition supporter 3888, described second distally cable mistake Cross such as belt pulley, bar, capstan winch etc., described second nearside cable that supporter can include being installed to the far-end of elongated passageway 3822 Transition supporter can include the such as belt pulley, bar, capstan winch etc. being installed to the near-end of elongated passageway 3822.Second advances cable The near-end 3883 of 3882 could attach to dynamic clamp assembly 3860.It addition, in these embodiments, ring-type percussion cable is used 3884 and connect on supporter 3889, belt pulley that described supporter can include being arranged in slender axles 3808, bar, strand Dish etc..In one embodiment, retraction cable 3884 can be formed in the collar and be connected in parallel to adapter 3889 ', described adapter It is fixedly attached to the first propelling cable 3880 and second and advances cable 3882.

The various non-limiting examples of the present invention include the instrument peace being operatively supported at tool mounting portion 3900 Cable on dress plate 3902 drives actuating device 3920.Tool mounting portion 3900 has a series of electrical connector pin 3904, described Electrical connector pin can be with the slit 1258(Figure 27 in adapter 1240 ') handing-over.This arranges that allowing robot system 1000 is work The control circuit 3910 of tool 3800 provides control signal.Although in conjunction with mechanical coupling element, charge coupled device and magnetic couple unit Part is described herein interface, it will be appreciated that can use multiple remote measurement form, including infrared, inductive etc..

Control circuit 3910 form with schematic diagram in Figure 85 illustrates.In a kind of form or embodiment, control Circuit 3910 includes that the power supply of battery 3912 form, described battery are connected to break-make solenoid on and off switch 3914.But, at it In his embodiment, power supply can include alternating current power supply.Control circuit 3910 also includes break-make solenoid 3916, and described solenoid couples To double-pole switch 3918 to control motor direction of rotation.Therefore, when robot system 1000 provides suitable control signal, open Close 3914 and provide electric power by permission battery 3912 for double-pole switch 3918.Robot system 1000 also provides for double-pole switch 3918 Suitable signal thinks that shift unit motor 3922 provides electric power.

Forwarding Figure 89-94 to, at least one embodiment of cable driving actuating device 3920 includes being operably mounted into drives The driving belt pulley 3930 of moving axis 3932, described drive shaft is attached with the drive element 1304 of the above-mentioned type and structure, described from Dynamic element is designed to driving element 1250 corresponding with adapter 1240 and joins.See Figure 27 and 92.Therefore, pacify when instrument When dress part 3900 is operably linked to tool rack 1270, robot system 1000 can apply rotary motion in the desired direction To driving belt pulley 3930.First drive member or belt 3934 drive to engage and drive belt pulley 3930, and rotatable twelve Earthly Branches The support the second drive shaft 3936 on shift unit yoke 3940.Shift unit yoke 3940 is operably linked to shift unit motor 3922, Make the rotation in a first direction of the axle 3923 of shift unit motor 3922 will in a first direction " FD " upper offset shift device yoke, and And the rotation that shift unit motor drive shaft 3923 is in a second direction will be at the upper offset shift device yoke 3940 of second direction " SD ".The present invention Other embodiments shift unit solenoid can be used to arrange, with offset shift device on described first direction and second direction Yoke.

As shown in Figure 89-92, Guan Bi travelling gear 3950 is installed to the second drive shaft 3936, and can be with Guan Bi driving group Part (commonly referred to as 3951) optionally engages.Equally, percussion travelling gear 3960 is also mounted to the second drive shaft 3936, and energy Enough assembly (commonly referred to as 3961) is driven optionally to engage with percussion.The rotation of the second drive shaft 3936 causes Guan Bi driving cog Wheel 3950 and percussion travelling gear 3960 rotate.In one non-limiting embodiment, Guan Bi drives assembly 3951 to include Guan Bi Driven gear 3952, described Guan Bi driven gear is connected to the first Guan Bi skin being pivotally supported in the 3rd drive shaft 3956 Belt wheel 3954.Guan Bi cable 3850 is drivingly contained on the first Guan Bi belt pulley 3954 so that Guan Bi driven gear 3952 Rotate and driving is closed cable 3850.Equally, percussion drives assembly 3961 to include firing driven gear 3962, and described percussion is driven Gear is connected to the first percussion belt pulley 3964 being pivotally supported in the 3rd drive shaft 3956.First drives belt pulley 3954 and second drive belt pulley 3964 to rotate independently in the 3rd drive shaft 3956.Percussion cable 3884 is drivingly contained in On first percussion belt pulley 3964 so that driving is fired cable 3884 by the rotation of percussion driven gear 3962.

The most in various embodiments, cable drives actuating device 3920 also to include brake assemblies 3970.Such as, at least In one embodiment, brake assemblies 3970 includes closing brake 3972, and described Guan Bi brake includes being attached to actuating device The spring arm 3973 of a part for shell 3971.Guan Bi brake 3972 has gear lug 3974, the chi of described gear lug Very little being set to can engage the tusk closing driven gear 3952, as will be described below in further detail.Braking group Part 3970 also includes firing brake 3976, and described percussion brake includes the another part being attached to drive housing 3971 Spring arm 3977.Percussion brake 3976 there is gear lug 3978, described gear lug be dimensioned so as to engage The tusk of percussion driven gear 3962.

At least one embodiment of surgical technique and tools 3800 can be used as follows.Tool mounting portion 3900 is operatively coupled Interface 1240 to robot system 1000.The controller of operation robot system or control unit, with by be cut and stitching Tissue positioned between the anvil block 3824 opened and nail bin 3834.When the initial position has been assumed, brake assemblies 3970 is locked Guan Bi driven gear 3952 and percussion driven gear 3962 so that they can not rotate.I.e., as shown in Figure 90, gear lug 3974 are engaged by locking with Guan Bi driven gear 3952, and gear lug 3978 is engaged by locking with percussion driven gear 3962.One Denier surgical end-effector 3814 is properly positioned, and the controller 1001 of robot system 1000 will be for shift unit motor 3922(or shift unit solenoid) control signal is provided, thus make shift unit yoke 3940 move in a first direction.Work as shift unit When yoke 3940 moves in a first direction, when close travelling gear 3950 move to close driven gear 3952 engage time, close Close travelling gear make gear lug 3974 move to and close driven gear 3952 and depart from.As shown in Figure 89, when in this position Time, gear lug 3978 keeps being engaged by locking with percussion driven gear 3962, thus prevents the actuating of trigger system.Then, machine Device people's controller 1001 is to drive belt pulley through the interface the corresponding component of drive element 1304 and tool rack 1240 3930 provide the first rotary actuating movement.When driving belt pulley 3930 to rotate in a first direction, Guan Bi cable 3850 is revolved Turn to drive and close joint by clamping lining ring 3840 in advance to the jack-up surface 3825 with anvil block 3824, in order to make it move to Guan Bi Position, thus clamp the target tissue between anvil block 3824 and nail bin 3834.See Figure 85.Once anvil block 3824 has moved to Guan Bi Position, robot controller 1001 stops applying the first rotary motion to driving belt pulley 3930.Then, robot controller 1001 can control signal to shift unit motor 3922(or shift unit solenoid by sending another) make shift unit yoke second Above move and start to fire process, as shown in Figure 91 in direction " SD ".When shift unit yoke 3940 moves in a second direction, when hitting Send out travelling gear 3960 move to fire driven gear 3962 engage time, percussion travelling gear makes gear lug 3978 and percussion Driven gear 3962 departs from.As shown in Figure 91, when at that position, gear lug 3974 keeps and Guan Bi driven gear 3952 It is engaged by locking, thus prevents the actuating of closed-system.It then passes through the corresponding component of drive element 1304 and tool rack 1240 it Between interface start robot controller 1001, think driving belt pulley 3,930 first rotary actuating movement is provided.Work as driving When belt pulley 3930 rotates in a first direction, percussion cable 3884 is rotated to dynamically clamp upper driving of distal direction " DD " Component 3860, thus fire nail and cut be clamped in the tissue in end effector 3814.Once robot system 1000 is passed through Sensor or the amount being applied to drive the rotation of belt pulley 3930 to input by monitoring determine that dynamic clamping component 3860 arrives Reach its farthest side position, then controller 1001 can apply the second rotary motion to revolve in the opposite direction to driving belt pulley 3930 Turn Guan Bi cable 3850, thus at the upper dynamic clamping component 3860 that bounces back of proximal direction " PD ".Once dynamically clamping component bounces back To original position, stop to driving belt pulley 3930 to apply the second rotary motion.Then, shift unit motor 3922(or shift unit Solenoid) energising, shift unit yoke 3940 to be moved to make position (Figure 92).Once Guan Bi travelling gear 3950 and Guan Bi from Moving gear 3952 engages, then robot controller 1001 can be again to driving belt pulley 3930 to apply the second rotary motion.Drive Belt pulley 3930 rotation in a second direction makes Guan Bi cable 3850 bounce back to clamping lining ring 3840 in advance and anvil block 3824 Jack-up surface 3825 departs from, to allow anvil block 3824 to move to open position (by spring or other devices), thus from surgery End effector 3814 discharges the tissue being sewn.

Figure 95 shows the surgical technique and tools 4000 using the gear driven trigger shaft 4092 as shown in Figure 96-98.This is real Execute the slender axles assembly 4008 that example includes extending from tool mounting portion 4100.Tool mounting portion 4100 includes operable twelve Earthly Branches Support the tool mounting plate 4102 of transmission arrangements 4103 thereon.Slender axles assembly 4008 includes rotatable proximal closure tube 4010, described rotatable proximal closure tube is rotatably connected on proximal spine member 4020, described proximal spine member rigidity It is connected to tool mounting plate 4102.Proximal spine member 4020 has the elongate channel portion being connected to surgical end-effector 4012 The far-end of 4022.Surgical end-effector 4012 can be substantially similar to above-mentioned surgical end-effector 3412.It addition, can pass through The anvil of surgical end-effector 4012 is opened and closed to the distal closure tube 4030 operationally joined with proximal closure tube 4010 Seat 4024.Distal closure tube 4030 is identical with above-mentioned distal closure tube 3430.Similarly, proximal closure tube 4010 and above-mentioned nearside Guan Bi pipeline section 3410 is identical.

Open by rotating proximal closure tube 4010 relative to distal closure tube 3410 in the above described manner and close anvil block 4024.In at least one embodiment, transmission arrangements includes closing actuating device (commonly referred to as 4011).As will below In further describe, Guan Bi actuating device 4011 be able to receive that corresponding first rotary motion from robot system 1000, And this first convert rotational motion is become principal rotating motion, so that rotatable proximal closure tube 4010 is around longitudinal tool axis LT-LT rotates.As shown in Figure 98, the near-end 4060 of proximal closure tube 4010 is pivotally supported in rack arrangement 4104, institute State rack arrangement and be attached to the tool mounting plate 4102 of tool mounting portion 4100.Swing pinion 4062 is formed at or is attached to close Close the near-end 4060 of pipeline section 4010, to nibble with the rotary drive assembly 4070 being operatively supported on tool mounting plate 4102 Close.In at least one embodiment, when tool mounting portion 4100 is connected to tool rack 1270, rotary transmission gear 4072 Receive corresponding clutch plate on the adapter side of tool mounting plate 4102 or first in drive element 1304.See Figure 28 and 98.Rotary drive assembly 4070 also includes rotary drive gear 4074, described rotary drive gear and swing pinion 4062 and rotation Turn travelling gear 4072 to be rotationally supported within tool mounting plate 4102 in the way of engagement.Will be from robot system First Spin Control of 1000 moves through tool rack 1270 and adapter 1240 is applied to corresponding drive element 1304, thus The rotation of rotary transmission gear 4072 will be caused by being operably coupled to it.The rotation of rotary transmission gear 4072 is final Cause the rotation of Guan Bi pipeline section 4010, thus open and close anvil block 4024, as mentioned above.

As it has been described above, end effector 4012 uses the cutting element 3860 as shown in Figure 96 and 97.At at least one In non-limiting example, transmission arrangements 4103 also includes that cutter drives actuating device, and described cutter drives actuating device to include Cutter drives assembly 4080.Figure 98 shows for axially advancing the cutter of knife bar 4092 to drive a kind of form of assembly 4080, described Knife bar uses above-mentioned cable to be attached to this cutting element relative to surgical technique and tools 3800.Specifically, knife bar 4092 substitutes surgery The percussion cable 3884 used in the embodiment of instrument 3800.The cutter of a kind of form drives assembly 4080 to include rotary transmission gear 4082, when tool mounting portion 4100 is connected to tool rack 1270, described rotary transmission gear is connected to tool mounting plate In corresponding clutch plate or drive element 1304 second on the adapter side of 4102.See Figure 28 and 98.Cutter drives assembly 4080 also include the first rotary drive gear assembly 4084 being pivotally supported on tool mounting plate 4102.First rotate from Moving gear assembly 4084 engages with the 3rd rotary drive gear assembly 4086, and described 3rd rotary drive gear assembly is rotatably It is supported on tool mounting plate 4102 and engages with the 4th rotary drive gear assembly 4088, described 4th rotary drive gear train Part engages with the threaded portion 4094 of the drive shaft assembly 4090 being connected to knife bar 4092.Rotary transmission gear 4082 is in the second rotation Turn side to rotate up and drive shaft assembly 4090 and knife bar 4092 will be caused in the upper axially traveling of distal direction " DD ".Otherwise, rotate Travelling gear 4082 will cause drive shaft assembly 4090 and knife bar upper rotation of secondary direction of rotation (contrary with the second direction of rotation) 4092 move in a proximal direction.The trigger shaft 4092 motion in proximal direction " PD " will be cut in the upper driving of distal direction " DD " Cut element 3860.Otherwise, the trigger shaft 4092 motion in distal direction " DD " will cause cutting element 3860 in proximal direction " PD " upper motion.

Figure 99-105 shows another surgical technique and tools 5000 that effectively can use in conjunction with robot system 1000.Various In form, surgical technique and tools 5000 includes the surgical end-effector 5012 of surgery suturing appliance form, described surgery suturing appliance Including the clamping component (such as anvil block 5070) of elongated passageway 5020 and pivotally translatable, described elongated passageway and pivotally translatable Clamping component be maintained at the spacing guaranteeing effectively to sew up and cut off the tissue being clamped in surgical end-effector 5012.As Shown in Figure 101, the cross section of elongated passageway 5020 can be substantially U-shaped, and by such as titanium, 203 rustless steels, 304 stainless Steel, 416 rustless steels, 17-4 rustless steel, 17-7 rustless steel, 6061 or 7075 aluminum, chromium steel, pottery etc. are made.Substantially U-shaped metal Channel disc 5022 may be supported on the bottom of elongated passageway 5020, as shown in the figure.

Various embodiments include that the actuation member of sliding part 5030 form, described sliding part are operably supported In surgical end-effector 5012, and the control campaign to being applied thereto axially is transported between original position and end position Dynamic angle responds.In some forms, metal passage dish 5022 has the slit 5024 being centrally located movably to accommodate cunning The base part 5032 of follower member 5030.Base part 5032 includes that foot portion 5034, the size of described foot portion set Determine in the slit 5021 being slidably received within elongated passageway 5020.See Figure 101.Such as Figure 100,101,104 and 105 institute Showing, the base part 5032 of sliding part 5030 includes to be contained in axially prolonging in threaded drive shaft 5130 by screw thread The threaded bore 5036 stretched, as will be described below in further detail.It addition, sliding part 5030 includes supporting tissue The upright support portion 5038 of cutting blade or tissue cutter tool 5040.Upright support portion 5038 terminates at top 5042, Described top has a pair holding fin 5044 of the horizontal expansion of projection from which.As shown in Figure 101, fin 5044 is positioned Become to be contained in anvil block 5070 in corresponding slit 5072.It is clamped in surgery end when sliding part 5030 is driven across towards distally During tissue in portion executor 5014, fin 5044 and leg 5034 for being maintained at required spaced apart closing by anvil block 5070 Close position.Additionally as shown in Figure 103 and 105, sliding part 5030 also includes the reciprocal or driving assembly of sequential activation 5050, to drive nail pusher towards Guan Bi anvil block 5070.

More particularly and combine Figure 101 and 102, elongated passageway 5020 can be operably supported surgery nail bin therein 5080.In at least one form, surgery nail bin 5080 includes main part 5082, and described main part can be by such as Wei Kete (Vectra), nylon (6/6 or 6/12) is drawn to make and include the slit 5084 being centrally located, to accommodate sliding part 5030 Upright support portion 5038.See Figure 101.These materials can also be used with the glass of 10%-40%, carbon or mineral-filled.Surgical staples Storehouse 5080 also includes that multiple cavity 5086 supports pusher 5088 for movably supporting the most rows of or rows of nail.Chamber Body 5086 can be arranged in row or the row 5090,5092,5094,5096 of spaced apart longitudinal extension.Such as, row 5090 is herein In be referred to alternatively as the first outboard row.Row 5092 is referred to alternatively as the first inboard row in this article.Row 5094 is referred to alternatively as inside second Row and row 5096 are referred to alternatively as the second outboard row.First inboard row 5090 and the first outboard row 5092 are positioned at longitudinal slit 5084 The first cross side on, the second inboard row 5094 and the second outboard row 5096 are positioned on the second cross side of longitudinal slit 5084. The first nail pusher 5088 in first inboard row 5092 is handed over relative to the first nail pusher 5088 in the first outboard row 5090 Staggered arrangement arranges.Similarly, the second nail pusher 5088 in the second outboard row 5096 is relative to second in the second inboard row 5094 Pusher 5088 is staggered.Each pusher 5088 is operably supported surgical staples 5098 thereon.

In various embodiments, sequential activation or the reciprocal assembly 5050 that drives activated include being attached to common axis 5056 Pair of outside driver 5052 and pair of inside driver 5054, described common axis is rotatably installed in sliding part 5030 Pedestal 5032 in.Outside driver 5052 is oriented as and the corresponding multiple outsides active cavity being arranged in channel disc 5022 Body 5026 sequentially or reciprocally engages.Equally, interior side driver 5054 is oriented as corresponding to be arranged in channel disc 5022 Multiple inner sides activate cavity 5028 order or reciprocally engage.Cavity 5028 is activated relative to neighbouring outside active cavity in inner side Body 5026 is staggered.See Figure 102.Additionally as shown in Figure 103 and 104, at least one embodiment, sliding part 5030 also include distally wedge section 5060 and the intermediate wedge part section 5062 being positioned on each side of bore hole 5036, to work as Engage with pusher 5088 when driving sliding part 5030 in distal direction " DD " towards distally.As it has been described above, sliding part 5030 are contained on the threaded portion 5132 of drive shaft 5130 by screw thread, and described drive shaft is pivotally supported at end and performs In device 5012.Such as, in various embodiments, drive shaft 5130 has the far-end 5134 being supported in distally bearing 5136, institute State distally bearing to be arranged in surgical end-effector 5012.See Figure 101 and 102.

In various embodiments, surgical end-effector 5012 is connected to tool mounting portion by slender axles assembly 5108 5200.In at least one embodiment, tool mounting portion 5200 is operably supported transmission arrangements (commonly referred to as 5204), described transmission arrangements is able to receive that the rotary output motion from robot system.Slender axles assembly 5108 includes Can rotate on ridge component 5120 and the outside Guan Bi pipe 5110 of axially-movable, described ridge component is rigidly connected to tool mounting-portion Divide the tool mounting plate 5201 of 5200.Ridge component 5120 also has the elongate channel portion being connected to surgical end-effector 5012 The far-end 5122 of 5020.

In use, come rotary surgical end around longitudinal tool axis LT-LT limited by slender axles assembly 5008 to hold Row device 5012 is probably favourable.In various embodiments, outside Guan Bi pipe 5110 has a near-end 5112, described proximally by The front support 5203 that supports is pivotally supported on the tool mounting plate 5201 of tool drives part 5200.Outside Guan Bi pipe The near-end 5112 of 5110 can operationally rotation transmitting portion 5206 with transmission arrangements 5204 join.In various enforcements In example, the near-end 5112 of outside Guan Bi pipe 5110 is also supported on closing on sliding part 5140, and described Guan Bi sliding part is the most movably It is supported on tool mounting plate 5201.Guan Bi pipe gear segment 5114 is formed on the near-end 5112 of outside Guan Bi pipe 5110, with The rotary drive assembly 5150 of rotary actuator 5206 engages.As shown in Figure 99, at least one embodiment, driving is rotated Assembly 5150 includes rotary transmission gear 5152, and when tool drives part 5200 is connected to tool rack 1270, described rotation passes Moving gear is connected on the adapter side 1307 of tool mounting plate 5,201 first in corresponding clutch plate or drive element 1304 Individual.Rotary drive assembly 5150 also includes rotary drive gear 5154, described rotary drive gear with Guan Bi pipe gear segment 5114 and rotary transmission gear 5152 engagement mode and be rotationally supported within tool mounting plate 5201.Will be from robot First Spin Control of system 1000 moves through tool rack 1270 and adapter 1240 is applied to corresponding drive element 1304 To cause the rotation of rotary transmission gear 5152.The rotation of rotary transmission gear 5152 finally cause slender axles assembly 5108(and End effector 5012) represented by arrow " R " in longitudinal tool axis LT-LT(Figure 99) rotate.

By making outside Guan Bi pipe 5110 realize anvil block 5070 relative to surgery in the upper axially-movable of distal direction " DD " The Guan Bi of nail bin 5080.This type of axially-movable of outside Guan Bi pipe 5110 can be by the Guan Bi transmission of transmission arrangements 5204 Part 5144 realizes.As it has been described above, in various embodiments, the near-end 5112 of outside Guan Bi pipe 5110 is by Guan Bi sliding part 5140 Supporting, described Guan Bi sliding part makes near-end 5112 rotate relative to it, but is as closing sliding part 5140 and axially advances. Specifically, as shown in Figure 99, Guan Bi sliding part 5140 has upright protuberance 5141, and described upright protuberance extends to In radial groove 5115 in the proximal part 5112 of outside Guan Bi pipe 5110.It addition, as it has been described above, Guan Bi sliding part 5140 can It is slideably mounted into tool mounting plate 5201.In various embodiments, Guan Bi sliding part 5140 has upstanding portion 5142, described Upstanding portion has the Guan Bi rack pinion 5143 being formed on.Guan Bi rack pinion 5143 can be with Guan Bi actuating device 5144 drive joint.

In various forms, Guan Bi actuating device 5144 includes closing spur gear 5145, and described Guan Bi spur gear is connected to In corresponding clutch plate or drive element 1304 second on the adapter side 1307 of tool mounting plate 5201.Therefore, when connecing When mouth 1230 is connected to tool mounting portion 5200, the second Spin Control from robot system 1000 is moved through instrument Frame 1270 and adapter 1240 are applied on corresponding second drive element 1304 rotation by causing Guan Bi spur gear 5145.Close Close actuating device 5144 also to include being supported in the way of rack pinion 5143 engages with Guan Bi spur gear 5145 and closing Driven Guan Bi gear train 5146.Therefore, the second Spin Control from robot system 1000 is moved through tool rack 1270 It is applied to corresponding second drive element 1304 with adapter 1240 and will cause the rotation of Guan Bi spur gear 5145, and the most axial Drive Guan Bi sliding part 5140 and outside Guan Bi pipe 5110.What Guan Bi pipe 5110 moved axially ultimately depends on the second drive element 1304 directions rotated.Such as, a rotating closed motion to being received from robot system 1000 responds, and Guan Bi is slided Part 5140 will be driven in distal direction " DD ", and outside Guan Bi pipe 5110 finally also will be driven in a distal direction. Outside Guan Bi pipe 5110 has the opening 5117 in far-end 5116, and described far-end can prominent with on anvil block 5070 in the above described manner Go out portion 5071 to engage.When present dynasty distally drives outside Guan Bi pipe 5110, the near-end 5116 of Guan Bi pipe 5110 will contact anvil block 5070 And by its pivoted closed.When applying " opening " rotary motion from robot system 1000, will be in proximal direction " PD " Drive Guan Bi sliding part 5140 and outside Guan Bi pipe 5110, and in the above described manner anvil block 5070 is switched to open position.

In at least one embodiment, drive shaft 5130 has near-end 5137, and described near-end has nearside attached thereto Shaft gear 5138.Proximal shaft gear 5138 is in the way of engaging with the distally travelling gear 5162 being attached to rotation drive rod 5160 And supported, use ridge component 5120 to be pivotably supported described rotation drive rod.Controlled by swivel knife actuating device 5207 System rotates drive rod 5160 and the rotation of final rotating driveshaft 5130, and described swivel knife actuating device includes being supported on instrument peace A part for transmission arrangements 5204 on dress plate 5210.In various embodiments, include can for swivel knife actuating device 5207 The swivel knife drive system 5170 being operatively supported on tool mounting plate 5201.In various embodiments, cutter drive system 5170 include rotary transmission gear 5172, when tool drives part 5200 is connected to tool rack 1270, and described rotary drive tooth Take turns the 3rd be connected on the adapter side of tool mounting plate 5201 in corresponding clutch plate or drive element 1304.Cutter drives System 5170 also includes the first rotary drive gear 5174, described first rotary drive gear with the second rotary drive gear 5176 and rotary transmission gear 5172 engagement mode and be rotationally supported within tool mounting plate 5201.By second rotate from Moving gear 5176 is connected to rotate the proximal part 5164 of drive rod 5160.

Rotary transmission gear 5172 rotation in the first rotational direction will cause rotation drive rod 5160 and rotate driving Axle 5130 rotation in a first direction.Otherwise, rotary transmission gear 5172 in the second direction of rotation (with the first direction of rotation phase Rotating on instead) will cause rotation drive rod 5160 and rotating driveshaft 5130 rotation in a second direction.Therefore, drive shaft The rotation of 2440 causes the rotation of drive sleeve 2400.

The method that now will describe operation surgical technique and tools 5000.Tool driver 5200 is operably linked to robot system The interface 1240 of 1000.The controller 1001 of operation robot system 1000 is to open tissue positioned that is to be cut and that sew up Anvil block 5070 and surgery nail bin 5080 between.Make upon robot system 1000 mapping surgical end effector 5012 Target tissue between anvil block 5070 and surgery nail bin 5080, then can start the controller 1001 of robot system 1000 with to The second drive element 1304 coupled with Guan Bi spur gear 5145 applies the second rotary output motion, with the most axial Drive and close sliding part 5140 and outside Guan Bi pipe 5110, thus pivoted closed anvil block 5070 in the above described manner.Once robot Controller 1001 determines anvil block by the sensor in such as surgical end-effector 5012 and/or tool drives part 5200 5070 close, then robot controller 1001 system can be that surgeon's offer shows the instruction that anvil block closes.This type of instruction Can be to be the forms such as sense of touch feedback on such as light and/or audible sound, control member.Then surgeon can cause and hits The process of sending out.But, in alternative embodiment, robot controller 1001 can automatically begin to percussion process.

In order to start to fire process, the 3rd rotary output motion is applied to and rotary transmission gear by robot controller 5172 the 3rd clutch plate coupled or drive elements 1304.The rotation of rotary transmission gear 5172 makes rotation drive rod 5160 and rotation Turn drive shaft 5130 to rotate in the above described manner.Can in conjunction with Figure 103,105 and 106 be best understood surgical staples 5098 percussion and Shape.When sliding part 5030 is driven across surgery nail bin 5080 in distal direction " DD ", distally wedge section 5060 First contact stud pusher 5088 starting makes it move towards Guan Bi anvil block 5070.When sliding part 5030 continues to transport towards distally Time dynamic, in the corresponding activation cavity 5026 that outside driver 5052 will fall in channel disc 5022.Then, each outside drives The opposite end of device 5052 will contact corresponding outside pusher 5088, described outside pusher by distally wedge section 5060 and in Between wedge section 5062 move upward.The further distal movement of sliding part 5030 makes outside driver 5052 rotate and court Anvil block 5070 drives corresponding pusher 5088, thus makes the nail being supported on when pusher drives to anvil block 5070 5098 shape.Should be appreciated that when sliding part 5030 is towards distal movement, blade 5040 cut off be clamped in anvil block and nail bin it Between tissue.Because interior side driver 5054 and outside driver 5052 are attached to identical axle 5056 and interior side driver 5054 are radially staggered on axle 5056 with outside driver 5052, when outside driver 5052 drives it corresponding towards anvil block 5070 During pusher 5088, interior side driver 5054 falls in its next corresponding activation cavity 5028, so that they are with identical Mode rotatably or reciprocally drive corresponding inner side pusher 5088 towards Guan Bi anvil block 5070.Therefore, when sliding part group When part 5030 is driven towards distally, the most corresponding outside nail 5098 on every side of the slit 5084 being centrally located is simultaneously Shape together, and the most corresponding inner side nail 5098 on every side of slit 5084 shapes simultaneously all together.Once machine People's controller 1001 is by sensor or is applied to drive shaft 5130 by monitoring and/or rotates the rotation output of drive rod 5160 Amount determines that sliding part 5030 has arrived its farthest side position, then the 3rd rotary output motion can be applied by controller 1001 To drive shaft 5130 with rotating driveshaft 5130 in the opposite direction, thus sliding part 5030 is bounced back to its start bit Put.Once sliding part 5030 bounces back to original position (as by end effector 5012 and/or tool drives part 5200 In sensor send signal), then stop applying the second rotary motion to drive shaft 5130.Then, surgeon can manually open Dynamic anvil block opening procedure maybe can be automatically begun to by robot controller 1001.In order to open anvil block 5070, rotate defeated by second Go out motion to be applied to close spur gear 5145, with the most axially driving Guan Bi sliding part 5140 and outside Guan Bi pipe 5110.When closing pipe 5110 and proximally moving, the opening 5117 in Guan Bi pipe 5110 far-end 5116 contacts on anvil block 5070 Protuberance 5071, so that anvil block 5070 is switched to open position.When closing pipe 5116 and being back to original position, it is possible to use Anvil block 5070 is biased to open position by spring.Additionally, in surgical end-effector 5012 and/or tool mounting portion 5200 Sensor can be that robot controller 1001 offer shows the signal that anvil block 5070 has been opened.Then, surgical end-effector 5012 can recall from surgical site.

Figure 106-111 shows the order percussion of nail in surgical technique and tools assembly 5000 ', described surgical technique and tools group with diagram method Part is substantially similar to above-mentioned surgical technique and tools assembly 5000.In this embodiment, interior side driver 5052 ' and outside driver 5054 ' have jack-up shape, and it has the jack-up surface 5053 as shown in Figure 106-112 and actuator projection 5055.Drive Device 5052 ', 5054 ' is connected on the identical axle 5056 ' that is pivotably supported by sliding part 5030 '.In this embodiment In, sliding part 5030 ' has the distally wedge section 5060 ' for engaging pusher 5088.Figure 106 shows when far Side is two inner sides or the initial position of outside driver 5052 ', 5054 ' when " DD " upper driving sliding part 5030 '.As Shown in figure, pusher 5088a boosts wedge section 5060 ' contact driver 5052 ', 5054 '.Sliding part 5030 ' travelings further in a distal direction promote driver 5052 ', 5054 ' above to pivot in " P " direction (Figure 107), until The end wall 5029a of activator portion 5055 contact activation cavity 5026,5028, as shown in Figure 108.Sliding part 5030 ' exists Continuation in distal direction " DD " advances and promotes driver 5052 ', 5054 ' to rotate up, as shown in Figure 109 in " D " side.When driving When dynamic device 5052 ', 5054 ' rotates, pusher 5088a upwardly shown in 5053 to the Figure 110 of jack-up surface final vertically Position.When pusher 5088a arrives the final vertical position shown in Figure 110 and 111, the nail being supported on (is not shown Go out) drive to the nail profiled surface of anvil block to form nail.

Figure 113-119 shows and such as can use in conjunction with the tool mounting portion 1300 of above-detailed and axle 2008 Surgical end-effector 5312.In various forms, surgical end-effector 5312 includes elongated passageway 5322, described elongated logical Road can support surgery nail bin 5330 therein as mentioned above.Surgery nail bin 5330 includes main part 5332, described main part Divide the slit 5334 being centrally located including the vertical support section 5386 for accommodating sliding part 5380.See Figure 113- 115.Surgical staples warehouse part 5332 also includes that multiple cavity 5336 supports pusher for movably supporting nail therein 5350.Cavity 5336 can be arranged in the row 5340,5342,5344,5346 of spaced apart longitudinal extension.Arrange 5340,5342 On a cross side of longitudinal slit 5334, and arrange on 5344,5346 another cross sides being positioned at longitudinal slit 5334. In at least one embodiment, pusher 5350 can support two surgical staples 5352 thereon.Specifically, be positioned at elongated narrow Each pusher 5350 on the side of groove 5334 supports a nail 5352 in the row 5340 being in staggered orientation and row 5342 In one nail 5352.Equally, each pusher 5350 being positioned on the opposite side of elongated slot 5334 supports and is in staggered taking To row 5344 in a surgical staples 5352 and another surgical staples 5352 in row 5346.Therefore, each pusher 5350 Support two surgical staples 5352.

Such as Figure 113,114 being further illustrated, surgery nail bin 5330 includes multiple rotating driver 5360.More particularly, Rotating driver 5360 on the side of elongated slot 5334 be arranged in single file 5370 and with pushing away in row 5340,5342 Dynamic device 5350 is corresponding.It addition, the rotating driver 5360 on the opposite side of elongated slot 5334 is arranged in single file 5372 And it is corresponding with the pusher 5350 in row 5344,5346.As shown in Figure 113, each rotating driver 5360 is rotatably It is supported in staple cartridge body 5332.More particularly, each rotating driver 5360 is rotatably received within corresponding shaft drive axis On 5362.Each driver 5360 has the arcuate ramp part 5364 being formed on, and described arcuate ramp part can connect It is combined on each pusher 5350 in the arcuate lower surfaces 5354 formed.See Figure 118.It addition, each driver 5360 has Bottom support part 5366, described bottom support part extends from driver to be slidably supported the pusher passage 5322 5360.Each driver 5360 has the actuator lever 5368 downwardly extended that can engage with sliding part 5380.

As shown in Figure 115, at least one embodiment, sliding part 5380 includes base part 5382, described base Seating portion has foot portion 5384, the slit being sized to be slidably received within passage 5322 of described foot portion In 5333.See Figure 113.Sliding part 5380 includes upright of supporting tissue cutting blade or tissue cutter tool 5388 Support part divides 5386.Upright support portion 5386 terminates at top 5390, and described top has the horizontal expansion of projection from which Keep fin 5,392 a pair.It is positioned to be contained in by fin 5392 in anvil block (not shown) in corresponding slit (not shown).Just Such as above-described embodiment, when sliding part 5380 is driven through the tissue being clamped in surgical end-effector 5312 towards distally Time, fin 5392 and foot portion 5384 for being maintained at required spaced apart make position by anvil block (not shown).Uprightly Support section 5386 can be attached to knife bar 2200(Figure 34).Sliding part 5380 also has horizontal-extending actuator plate 5394, it is contoured for described horizontal-extending actuator plate activating with each actuator lever 5368 on pusher 5360 connecing Close.

Now combine Figure 113 and 114 and describe the operation of surgical end-effector 5312.When in the upper driving of distal direction " DD " When sliding part 5380 is through nail bin 5330, the actuator lever 5368 on actuator plate 5394 progressive contact pusher 5360.When When sliding part 5380 continues towards distal movement, driving on every side of actuator plate 5394 progressive contact elongated slot 5334 The actuator rod 5368 of dynamic device 5360.This action makes driver 5360 rotate to actuation part from the first unactuated position, at this In actuation part, pusher 5350 is driven towards Guan Bi anvil block.When pusher 5350 is driven towards anvil block, surgical staples thereon 5352 downsides being driven to anvil block are formed and contact.Once robot system 1000 determines cunning by sensor or other devices When follower member 5080 has arrived its farthest side position, then the control system of robot system 1000 can be by knife bar and sliding part group Part 5380 bounces back to original position.Then, robot control system can start for anvil block being back to open position with release The process of the tissue being sewn.

Figure 119-123 shows a kind of form automatically reloading system embodiment of the present invention, commonly referred to as 5500. In one form, automatically reload system 5500 and can use " new " surgical end-effector part replacement robotic surgery " used " surgical end-effector parts in the steerable surgical technique and tools part of system.As used herein, term " surgery end Portion's executor's parts " it is previously used and must be with new portion when can include such as surgery nail bin, disposable loading unit or use Other end effector parts that part is replaced.Additionally, term " used " refer to end effector parts be activated and Required purpose it is no longer available under current state.Such as, in the context of surgery nail bin or disposable loading unit, term " used " refers to that being supported on the unfashioned nail of at least some therein before " fires " from it.As used herein, term is " new " surgical end-effector parts refer to the end effector parts under the conditions of desired use.At surgery nail bin or disposable In the context of loading unit, such as, term " new " refers to wherein to have this type of that unfashioned nail and being ready to uses Parts.

In various embodiments, automatically reloading system 5500 and include base part 5502, described base part can plan Slightly property ground is positioned at mechanical arm car 1100(Figure 20 of robot system 1000) working region 1109.As used herein, term " steerable surgical technique and tools part " generally refers to various types of surgical technique and tools disclosed herein and is operationally attached The instrument activated to the robotic surgical device of such as other forms of mechanical arm car 1100 or similar device, described mechanical arm car 1100 Or similar device can automatically handle and activate surgical technique and tools.Term used herein " working region " refers to robot system The scope of motion of steerable surgical technique and tools part.Figure 20 generally show the working area that can include mechanical arm car 1100 The region in territory.Those of ordinary skill in the art will appreciate that the shape and size of the working region being shown in which are merely illustrative 's.Last size, shape and the position of working region will ultimately depend on the structure of steerable surgical technique and tools part, limit of advancing The scope of system and position.Therefore, term used herein " working region " is intended to the work of multiple different sizes and shapes Region, and should not necessarily be limited to the concrete size and dimension of the sample working region shown in Figure 20.

As shown in Figure 119, base part 5502 includes new member supporting portion or arranges 5510, and described new parts prop up Support part is divided or device can be operably supported at least one new surgical end-effector parts on " loading direction ".Such as this Literary composition is used, and term " loading direction " refers to support new end effector parts in this way, to allow steerable surgery work The corresponding member supporting portion of tool part in the case of there is no human intervention in addition to necessary actuating robot system, (or the corresponding parts of new end effector parts and steerable surgical technique and tools part are made with new end effector parts Support section loads and engages) load joint (that is, be operably positioned at or be operably attached to new end effector parts). With continued reference to this detailed description of the invention it will be appreciated that at least one embodiment, prepare nurse will surgical operation it Front used surgical operation needed for suitable length and color nail bin (some surgery nail bins can support the nail of some size, its Size can be indicated by the color of warehouse) load new member supporting portion.But, in surgical procedures, it is not necessary to straight The human-computer interaction connect is to reload robot straight cuts device.In one form, surgical end-effector parts include nail Storehouse 2034, described nail bin can be operably disposed in any member supporting portion that above-mentioned other end effectors various are arranged In (elongated passageway).For illustrative purposes, new (untapped) storehouse is appointed as " 2034a " and used storehouse is specified For " 2034b ".The figure shows and be designed to together with the surgical end-effector 2012 including passage 2022 and anvil block 2024 Storehouse 2034a, the 2034b used, described passage and the structure of anvil block and operation describe in detail the most.Storehouse 2034a, 2034b is identical with above-mentioned storehouse 2034.In various embodiments, storehouse 2034a, 2034b can fasten holding (that is, load engage) and exist In the passage 2022 of surgical end-effector 2012.But, with continued reference to this detailed description of the invention, the ordinary skill people of this area Member will appreciate that without departing from the spirit and scope of the present invention, can automatically remove in conjunction with what other storehouses were arranged and install And effectively utilize automatic storehouse and reload the unique and novel characteristic of system 5500.

In the illustrated embodiment, term " loading direction " refers to the distal tip section of new surgery nail bin 2034a 2035a is inserted into the corresponding of new storehouse support section 5510 and supports in cavity 5512 so that new surgery nail bin 2034a's is near End portion 2037a is in orientation easily, so that arm car 1100 manipulation of surgical end effector 2012 to following location: in this position Putting, new storehouse 2034a can be automatically loaded in the passage 2022 of surgical end-effector 2012.In various embodiments, base Seat 5502 includes that at least one sensor 5504, described sensor connect with the control system 1003 of robot controller 1001, Think that control system 1003 provides the position of pedestal 5502 and/or each segmentation or new storehouse 2034a's to reload length And color.

Additionally as it can be seen, pedestal 5502 also includes the collection container 5520 that can collect used storehouse 2034b, described use The storehouse crossed has removed from the surgical end-effector 2012 being operably attached to robot system 1000 or has departed from.It addition, In one form, automatically reload system 5500 and include extraction system 5530, except necessary actuating robot system Outside without specific human intervention in the case of, described extraction system is for holding used end effector parts from end The corresponding support section of row device or steerable surgical technique and tools part automatically removes.In various embodiments, system is extracted System 5530 includes extracting hook component 5532.In one form, such as, extract hook component 5532 and be rigidly supported at base part On 5502.In one embodiment, extract hook component and there is at least one hook 5534 being formed on, when it is supported on surgery Time in the elongated passageway 2022 of end effector 2012, described hook can be with the far-end 2035 of used storehouse 2034b with the shape of hook Formula engages.In various forms, extract hook component 5532 and be conveniently located inside in the part collecting container 5520 so that when by mistake End effector parts (storehouse 2034b) with extract hook component 5532 engage with extracting mode time, used end effector portion Part (storehouse 2034b) removes and falls into from corresponding member supporting portion (elongated passageway 2022) collection container 5020.Therefore, for Using this embodiment, the end effector being attached to it is handled by steerable surgical technique and tools part, so that wherein using The far-end 2035 of the storehouse 2034b crossed engages with the form of hook with hook 5534, makes end effector move the most in this way, to incite somebody to action Used storehouse 2034b separates from elongated passageway 2022.

In other are arranged, extracting the wheel construction that hook component 5532 includes rotating, the wheel construction of described rotation has from it A pair of projection hook 5334 diametrically.See Figure 119 and 123.Extract hook component 5532 and be pivotally supported at collection In container 5520, it is connected in parallel to the extraction motor 5540 controlled by the controller 1001 of robot system.This form automatic Reload system 5500 can be used as follows.Figure 121 shows and is operably attached to steerable surgical technique and tools part The introducing of the surgical end-effector 2012 of l200.As it can be seen, surgical end is held by the arm car 1100 of robot system 1000 Row device 2012 is placed in shown position, and the chimoto 5534 wherein extracting component 5532 was used in surgical end-effector 2012 The far-end 2035 of storehouse 2034b engage with the form of hook.The anvil block 2024 of surgical end-effector 2012 is in an open position.With After the far-end 2035 of the storehouse 2034b crossed engages with chimoto 5532, extract motor 5540 and activated to rotate extraction wheel 5532, from And used storehouse 2034b departs from from passage 2022.In order to contribute to used storehouse 2034b and depart from from passage 2022 (or If it is fixing for extracting component 5530), robot system 1000 can (arrow " U " in Figure 137) make in an upward direction Surgical end-effector 2012 is moved.Along with used storehouse 2034b separates from passage 2022, used storehouse 2034b falls into receipts In collection container 5520.The most used storehouse 2034b removes from surgical end-effector 2012, then robot system 1000 will outward Section's end effector 2012 moves to the position shown in Figure 123.

In various embodiments, the neighbouring component 5532 that extracts of transducer arrangements 5533 positions, described extraction component and machine The controller 1001 of people's system 1000 connects.Transducer arrangements 5533 can include sensor, when distal tip section 2035b with carry Taking component 5532 when engaging, described sensor can sense the existence of surgical end-effector 2012, more particularly sense use The existence of the top 2035b of the surgery nail bin 2034b crossed.In certain embodiments, transducer arrangements 5533 can include such as light Curtain is put.But, the proximity transducer of other forms can be used.In arranging at this, when having used surgery nail bin 2034b's When surgical end-effector 2012 engages with extracting mode with extraction component 5532, sensor sensing surgery nail bin 2034b's is remote Side end 2035b(such as light curtain is damaged).Rotate when extracting component 5532 and loosely eject surgery nail bin 2034b and fall into When collecting in container 5520, light curtain is the most damaged.Because not making surgical end-effector 2012 move in the process, So robot controller 1001 determines that used surgery nail bin 2034b the most therefrom removes.Also other can be successfully used to sense Device is arranged and is thought that robot controller 1001 provides used surgery nail bin 2034b to remove from surgical end-effector 2012 Instruction.

As shown in Figure 123, surgical end-effector 2012 is oriented between grasping passage 2022 and anvil block 2024 new Surgery nail bin 2034a.More particularly, as shown in Figure 120 and 123, each cavity 5512 has associated corresponding straight Vertical pressure pad 5514.Mapping surgical end effector 2012 makes pressure pad 5514 between new storehouse 2034a and anvil block 2024. The most in this position, anvil block 2024 is closed on pressure pad 5514 by robot system 1000, and described pressure pad is new for promoting Storehouse 2034a fastens to the passage 2022 with surgical end-effector 2012.The newest storehouse 2034a is in elongated passageway 2022 Fastening puts in place, then robot system 1000 is reloaded from automatic storehouse and withdrawn from surgical end-effector 2012 system 5500, With with carry out another surgical operation and be used in combination.

Figure 124-128 shows that another reloads system 5600 automatically, and it can be used for from steerable surgical technique and tools Arrange 3600(Figure 71-84) in remove used disposable loading unit 3612 and reload new disposable loading unit 3612, described steerable surgical technique and tools device is operably attached to other portions of arm car 1100 or robot system 1000 Point.As shown in Figure 124 and 125, the system of automatically reloading 5600 of a kind of form includes that housing 5610, described housing have and props up The moveable support assembly of support rotary turnplate top board 5620 form thereon, described rotary turnplate top board coordinates shape with housing 5610 Become the enclosed area 5612 of hollow.Automatically reload system 5600 and can be operatively supported at the steerable of robot system In the working region of surgical technique and tools part, as mentioned above.In various embodiments, rotary turnplate plate 5620 has for supporting it In multiple holes 5622 of multiple orientation pipes 5660.As shown in Figure 125 and 126, rotary turnplate plate 5620 is attached to mandrel 5624 On.In mandrel 5624 is centrally positioned in enclosed area 5612 and there is the spindle gear 5626 being attached to it.Spindle gear 5626 with The rotating disk travelling gear 5628 being connected to turn disk drive motor 5630 engages, described in turn disk drive motor and robot system 1000 Robot controller 1001 operationally connect.

Automatically reload the various embodiments of system 5600 and may also include rotating disk locked component, commonly referred to as 5640.? In various forms, rotating disk locked component 5640 includes the jack-up dish 5642 being attached on mandrel 5624.Spindle gear 5626 can be attached Receive the downside of jack-up dish 5642, and jack-up dish 5642 can be keyed to mandrel 5624.In alternative layouts, mandrel tooth Wheel 5626 and jack-up dish 5642 can the most non-rotatably be attached to mandrel 5624.As shown in Figure 125 and 126, multiple recesses 5644 is spaced apart around the periphery of jack-up dish 5642.Lock arm 5648 is pivotally mounted in housing 5610, and by locking bullet Spring 5649 is biased to and the periphery of jack-up dish 5642.As shown in Figure 127, the neighboring of jack-up dish 5642 be circular with Be conducive to rotating jack-up dish 5642 relative to lock arm 5648.The edge of each recess 5644 is also round shape so that work as jack-up When dish 5642 rotates, lock arm 5648 is made to depart from recess 5644 by the periphery of jack-up dish 5642.

Various forms of systems 5600 of automatically reloading can support portable/interchangeable pallet component 5650, institute State pallet component and can support multiple disposable loading unit 3612 in single orientation pipe 5660.More particularly and combine figure 125 and 126, interchangeable pallet component 5650 includes the torr with the positioning core axle 5654 being centrally located from its bottom side projection Dish 5652.Being dimensioned so as to of positioning core axle 5654 is contained in the hollow ends 5625 of mandrel 5624.In pallet 5652 There are the multiple holes 5656 that can support orientation pipe 5660 therein.Each orientation pipe 5660 is managed by orientation in the desired direction Positioning flaps 5666 on 5660 is positioned in the corresponding aperture 5656 in interchangeable pallet component 5650, described orientation pipe quilt It is designed as being contained in pallet component 5650 in corresponding alignment slots 5658.In at least one embodiment, positioning flaps 5666 have generally V-shaped shape of cross section, and being sized to of described shape of cross section is suitable in V-arrangement alignment slots 5658 In.This arranges at required original position positioning orientating pipe 5660, simultaneously when applying rotary motion to it so that it is Hole 5656 rotates.That is, when applying rotary motion to orientation pipe 5660, V-arrangement positioning flaps 5666 will position accordingly from it Slit ejects, so that pipe 5660 rotates relative to pallet 5652, as will be described below in further detail.The most such as Shown in Figure 124-126, interchangeable pallet 5652 can be provided with one or more handle portions 5653, with when being loaded with orientation pipe The transmission of pallet component 5652 is conducive to when 5660.

As shown in Figure 128, each orientation pipe 5660 includes the main part 5662 with flanged type opening 5664.Main body Part 5662 limits cavity 5668, and being dimensioned so as to of described cavity accommodates the one of disposable loading unit 3612 wherein Part.In order to disposable loading unit 3612 is carried out correct orientation in orientation pipe 5660, cavity 5668 has shape wherein The smooth locating surface 5670 become.As shown in Figure 128, smooth locating surface 5670 can be conducive to required or predetermined Non-rotating direction on disposable loading unit is inserted in cavity 5668.It addition, the end 5669 of cavity 5668 can include Foam or padded coaming 5672, described foam or padded coaming are designed to buffer the disposable loading unit in cavity 5668 The far-end of 3612.It addition, the length of locating surface can be with the slip of the axially driving assembly 3680 of disposable loading unit 3612 Supporting member 3689 coordinates, so that disposable loading unit 3612 to be positioned at desired location in orientation pipe 5660 further.

Orientation pipe 5660 can by nylon, Merlon, polyethylene, liquid crystal polymer, 6061 or 7075 aluminum, titanium, 300 or 400 series stainless steels, coating or painted steel, galvinized steel etc. make, and when be loaded into interchangeable pallet 5662 and fixed When position mandrel 5654 is inserted in the hollow ends 5625 of mandrel 5624, orientation pipe 5660 extends through phase in turntable head plate 5620 The hole 5662 answered.Each interchangeable pallet 5662 is equipped with the control system with the controller 1001 of robot system 1000 The position sensor 5663 of 1003 connections.Sensor 5663 is for determining the position of the system of reloading, and is contained in pallet In each reload the quantity of part, length, color and cock.It addition, connect with robot controller 1001 one Individual or multiple optical pickocffs 5665 can be used for sensing the type/chi being loaded into the disposable loading unit being positioned in pallet 5662 Very little/length.

Automatically the various embodiments reloading system 5600 also include for applying rotational motion to orientation pipe 5660 Driving assembly 5680, thus disposable loading unit 3612 is remained attached to surgical technique and tools 3600(and is as general as " can handling Surgical technique and tools part ") axle 3700, described surgical technique and tools is operably linked to robot system.Assembly 5680 is driven to wrap Include the supporting yoke 5682 being attached to lock arm 5648.Therefore, supporting yoke 5682 pivots along with lock arm 5648.Supporting yoke 5682 can Pivotally supporting pipe idle pulley 5684 and pipe driving wheel 5686, described pipe driving wheel is driven by the pipe motor 5688 being attached to it.Pipe Motor 5688 connects with control system 1003 and is controlled.Pipe idle pulley 5684 and pipe driving wheel 5686 by such as natural rubber, Three all put down (sanoprene), TPU (isoplast) etc. makes so that its outer surface generates rubbing of q.s Wiping power, to make the orientation pipe 5660 contacted rotate when pipe motor 5688 activates.Idle pulley 5684 and pipe driving wheel 5686 phase For being orientated each other, to form stent area 5687 between the two for accommodating the orientation pipe 5060 wherein driving joint.

In use, it is empty for being loaded into the one or more orientation pipes 5660 automatically reloading in system 5600, with Time other orientation pipes 5660 be operably supported the newest disposable loading unit 3612.As will be hereinafter entered one Step describes in detail, uses the orientation pipe 5660 of sky to accommodate the most used disposable loading unit 3612.

After in the working region of the steerable surgical technique and tools part being positioned at robot system in system 5600, can press Used as described below automatically reload system 5600.If steerable surgical technique and tools part has the use coupled the most therewith The disposable loading unit 3612 crossed, then one in the orientation pipe 5660 being supported on interchangeable pallet 5662 is empty, To accommodate the most used disposable loading unit 3612.But, if steerable surgical technique and tools part does not have operable The disposable loading unit 3612 that ground couples therewith, the most each orientation pipe 5660 can be provided with the new disposable loading being suitably oriented Unit 3612.

Arrange as it has been described above, disposable loading unit 3612 uses " bayonet type " that rotate to connect, will disposably load Unit 3612 is operably linked to the corresponding part of steerable surgical technique and tools part.That is, in order to by disposable loading unit 3612 corresponding parts being attached to steerable surgical technique and tools part (3700-see Figure 77,81), when those parts have moved to When loading joint each other, it is necessary to rotational mounting motion is applied to disposable loading unit 3612 and/or steerable surgery work The corresponding part of tool part.This type of is installed motion and collectively referred to herein as " is loading motion ".Equally, in order to disposably add used Carrier unit 3612 separates from the appropriate section of steerable surgical technique and tools, it is necessary to apply rotating separation move to used once Property loading unit 3612 and/or the appropriate section of steerable surgical technique and tools part, the most used disposable loading unit Move with the appropriate section of steerable surgical technique and tools and be allowed to away from each other.This type of isolated movement is referred to as " extracting motion ".

In order to start loading procedure, start robot system 1000 with handle steerable surgical technique and tools part and/or from Move and reload system 5600 so that steerable surgical technique and tools part engages with the loading of new disposable loading unit 3612, institute State new disposable loading unit to be supported on and drive in the orientation pipe 5660 that engages with driving assembly 5680.Once robot controls Robot controller 1001(Figure 19 of system 1000) steerable surgical technique and tools part is positioned to and new disposable loading Unit 3612 loads and engages, and robot controller 1001 actuating drives assembly 5680 to rotate loading with applying and moves to wherein support Have an orientation pipe 5660 of new disposable loading unit 3612, and/or apply another rotate loading move to steerable outside The appropriate section of section's tool portion.Apply this type of rotate load motion time, robot controller 1001 also make steerable outside The appropriate section of section's tool portion moves to load therewith joint towards new disposable loading unit 3612.The most disposably load Unit 3612 loads with the appropriate section of steerable tool portion and engages, and loads motion and stops and can make steerable surgery Tool portion moves away from automatically reloading system 5600, and described system of automatically reloading is accompanied with and the most operationally joins The new disposable loading unit 3612 connect.

In order to used disposable loading unit 3612 is separated from corresponding steerable surgical technique and tools part, machine The robot controller 1001 of people's system handles steerable surgical technique and tools part, with by used disposable loading unit 3612 Far-end be inserted into sky orientation pipe 5660 in, described orientation pipe with drive assembly 5680 keep driving engage.Then, robot Controller 1001 starts driving assembly 5680, rotates extraction with applying and moves to wherein support used disposable loading unit The orientation pipe 5660 of 3612 and/or applying rotate extracts the appropriate section moving to steerable surgical technique and tools part.Robot Controller 1001 also makes steerable surgical technique and tools part withdraw from the disposable loading unit 3612 of used rotation.So After, extraction motion of stopping the rotation.

After used disposable loading unit 3612 removes from steerable surgical technique and tools part, robot controller 1001 can start and turn disk drive motor 5630, make another orientation pipe 5660 and drive assembly 5680 guiding turntable head plate 5620 Driving and engage, another orientation pipe described supports new disposable loading unit 3612 therein.Then, repeatable loaded Journey, to be attached to the appropriate section of steerable surgical technique and tools part by the newest disposable loading unit 3612.Robot The quantity of the recordable disposable loading unit used from specific replaceable pallet 5652 of controller 1001.Once control Device 1001 determines and employs all new disposable loading units 3612 from this pallet, then controller 1001 can be surgeon Thering is provided following signal (visual and/or audible), described signal shows to support all used disposable loading units 3612 Pallet 5652 must be received the new pallet 5652 of new disposable loading unit 3612 and replaced.

Figure 129-134 shows and is very suitable for and have tool drives assembly 1010(Figure 24) robot system 1,000 1 Acting another non-limiting example of the surgical technique and tools 6000 of the present invention used, described tool drives assembly operationally joins The master controller 1001 receiving the input by operator (that is, surgeon) and run.As shown in Figure 129, surgical technique and tools 6000 include that surgical end-effector 6012, described end effector include straight cuts device.In at least one form, surgery Instrument 6000 generally includes slender axles assembly 6008, and described slender axles assembly has and is connected in one by actuated articulation joints 6100 The proximal closure tube 6040 risen and distal closure tube 6042.Surgical technique and tools 6000 is by tool mounting portion (commonly referred to as 6200) It is operably linked to manipulator.Surgical technique and tools 6000 also includes interface 6030, and described interface can each with foregoing detailed description Tool mounting portion 6200 is mechanically and electrically connected to manipulator by the mode of kind.

In at least one embodiment, surgical technique and tools 6000 includes that surgical end-effector 6012, described surgical end are held Row device includes at least one parts 6024 in addition, described parts relative at least one miscellaneous part 6022 in primary importance and Between two positions, the various control campaigns being applied to parts 6024 are responded and optionally move, as will be hereinafter entered One step describes in detail, thus carries out surgical operation.In various embodiments, parts 6022 include being operably supported it In the elongated passageway 6022 of surgery nail bin 6034, and parts 6024 include the clamping component that translates pivotally, such as anvil block 6024.The various embodiments of surgical end-effector 6012 can make anvil block 6024 and elongated passageway 6022 be maintained to guarantee effectively Sew up and cut off at the spacing of the tissue being clamped in surgical end-effector 6012.Unless otherwise indicated, end effector 6012 are similar to above-mentioned surgical end-effector 2012 and include cutting device (not shown) and sliding part (not shown).Anvil block 6024 can include the protuberance 6027 being positioned at its near-end, described protuberance and mechanical closure system (being described further below) Parts interact and are beneficial to opening of anvil block 6024.Elongated passageway 6022 and anvil block 6024 can be by conductive material (such as gold Belong to) to make so that they can be as a part for the antenna connected with the one or more sensors in end effector, as above Described.Outside surgery nail bin 6034 can be made up of non-conducting material (such as plastics), and sensor may be connected to or is arranged on In section's nail bin 6034, also as described above.

As shown in Figure 129, according to various embodiments, by slender axles assembly 6008, surgical end-effector 6012 is attached To tool mounting portion 6200.As shown in the illustrated embodiment, slender axles assembly 6008 includes that actuated articulation joints is (commonly referred to as 6100), described actuated articulation joints makes surgical end-effector 6012 around extending substantially transversely to longitudinal tool axis LT-LT First tool joints axis of movement AA1-AA1 and extend substantially transversely to longitudinal tool axis LT-LT and the first articulating shaft The second tool joints axis of movement AA2-AA2 of line AA1-AA1 optionally carries out joint motions.See Figure 130.In various realities Executing in example, slender axles assembly 6008 includes closing pipe assembly 6009, and described Guan Bi pipe assembly includes by hinge connector 6044 With 6046 proximal closure tube 6040 being pivotally connected to and distal closure tube 6042.Guan Bi pipe assembly 6009 is movably supported in ridge On assembly (commonly referred to as 6102).

As shown in Figure 131, proximal closure tube 6040 is by top hinge connector 6044U and bottom hinge connector 6044L is pivotally connected to intermediate closed pipe joint 6043 so that intermediate closed pipe joint 6043 is around the first Guan Bi axis CA1-CA1 and second Guan Bi axis CA2-CA2 pivots relative to proximal closure tube 6040.In various embodiments, the first Guan Bi Axis CA1-CA1 is arranged essentially parallel to the second Guan Bi axis CA2-CA2, and two Guan Bi axis CA1-CA1, CA2-CA2 base Transverse to longitudinal tool axis LT-LT on Ben.As Figure 131 is further illustrated, intermediate closed pipe joint 6043 is by the left company of pivot Fitting 6046L and right hinge connector 6046R is pivotally connected to distal closure tube 6042 so that intermediate closed pipe joint 6043 Pivot around the 3rd Guan Bi axis CA3-CA3 and the 4th Guan Bi axis CA4-CA4 relative to distal closure tube 6042.In various realities Executing in example, the 3rd Guan Bi axis CA3-CA3 is arranged essentially parallel to the 4th Guan Bi axis CA4-CA4, and two Guan Bi axis CA3-CA3, CA4-CA4 extend substantially transversely to the first Guan Bi axis CA1-CA1 and second Guan Bi axis CA2-CA2 and longitudinal work Tool axis LT-LT.

Guan Bi pipe assembly 6009 actuating movement being applied thereto can be responded and on ridge assembly 6102 axially Slide.Distal closure tube 6042 includes opening 6045, and described opening joins with the protuberance 6027 on anvil block 6024, to work as distally Guan Bi pipe 6042 beneficially the opening of anvil block 6024 when the upper axially-movable of proximal direction " PD ".Guan Bi pipe 6040,6042 is permissible It is made up of conductive material (such as metal) so that it can serve as a part for antenna, as mentioned above.The parts of ridge assembly 6102 Can be made up of non-conducting material (such as plastics).

As it has been described above, surgical technique and tools 6000 includes tool mounting portion 6200, described tool mounting portion can be with above The mode described in detail is operably attached to the instrument mounting assembly 1010 of robot system 1000.As shown in Figure 133, instrument Mounting portion 6200 includes the tool mounting plate 6202 being operably supported transmission arrangements 6204 thereon.In various enforcements In example, actuating device 6204 includes that joint motions transmission arrangements 6142, described joint motions actuating device include that joint is transported A part for dynamic system 6140, with around the first tool joints axis of movement TA1-TA1 and the second tool joints axis of movement TA2-TA2 makes surgical end-effector 6012 carry out joint motions.First tool joints axis of movement TA1-TA1 substantial lateral In the second tool joints axis of movement TA2-TA2, the first and second tool joints axis of movements all extend substantially transversely to longitudinal work Tool axis LT-LT.See Figure 130.

In order to be conducive to making surgical end-effector 6012 around the first tool joints axis of movement TA1-TA1 and the second work Tool joint motions axis TA2-TA2 optionally carries out joint motions, and ridge assembly 6102 includes proximal spine segment 6110, described closely Lateral ridge part is pivotally coupled to distal spine segment 6120 optionally to pivot row around TA1-TA1 by pivot pin 6122 Enter.Similarly, distal spine segment 6120 is attached pivotally to the elongated logical of surgical end-effector 6012 by pivot pin 6124 Road 6022, so that surgical end-effector 6012 selects around the second tool axis TA2-TA2 relative to distal spine segment 6120 Property ground pivot.

In various embodiments, articulation system 6140 also includes operationally joining with surgical end-effector 6012 Multiple joint motions elements, and the joint motions that are operatively supported in instrument installation component 6200 control to arrange 6160, as will be described below in further detail.In at least one embodiment, joint motions element includes first to One articulation cable 6144 and 6146.First articulation cable is positioned on first or right side of longitudinal tool axis.Therefore, First articulation cable is referred to herein as upper right quarter cable 6144 and right lower quadrant cable 6146.Upper right quarter cable 6144 and the right side Lower cable 6146 extends respectively through corresponding path 6147,6148 along the right side of proximal spine segment 6110.See figure 134.Articulation system 6140 also includes second pair of second joint motion cable 6150,6152.Second joint motion cable position On second or left side of longitudinal tool axis.Therefore, second joint motion cable is referred to herein as upper left quarter joint motions Cable 6150 and lower left quarter articulation cable 6152.Upper left quarter articulation cable 6150 and lower left quarter articulation cable 6152 extend respectively through path 6153,6154 in proximal spine segment 6110.

As illustrated in graph 130, upper right quarter cable 6144 extends around top pivot fitting 6123 and at left pivot fitting The upper left side of elongated passageway 6022 it is attached at 6125.Right lower quadrant cable 6146 extend around bottom pivot fitting 6126 and The lower left side of elongated passageway 6022 it is attached at left pivot fitting 6125.Upper left quarter cable 6150 is around top pivot fitting 6123 Extend and be attached at right side pivot fitting 6127 upper right side of elongated passageway 6022.Lower left quarter cable 6152 is around bottom Pivot fitting 6126 extends and is attached to the lower right side of elongated passageway 6022 at right side pivot fitting 6127.Therefore, in order to Surgical end-effector 6012 (arrow " L ") to the left is made to pivot around the first tool joints axis of movement TA1-TA1, it is necessary to closely Side is to " PD " upper tractive upper right quarter cable 6144 and right lower quadrant cable 6146.In order to around the first tool joints axis of movement TA1-TA1 makes surgical end-effector 6012 (arrow " R ") to the right carry out joint motions, it is necessary at the upper tractive of proximal direction " PD " Upper left quarter cable 6150 and lower left quarter cable 6152.In order to transport around the second tool joints in upwardly direction (arrow " U ") Moving axis line TA2-TA2 makes surgical end-effector 6012 carry out joint motions, it is necessary at the upper tractive upper right quarter of proximal direction " PD " Cable 6144 and upper left quarter cable 6150.In order in downwardly direction (arrow " DW ") around the second tool joints axis of movement TA2-TA2 makes surgical end-effector 6012 carry out joint motions, it is necessary at the upper tractive right lower quadrant cable of proximal direction " PD " 6146 and lower left quarter cable 6152.

The near-end of articulation cable 6144,6146,6150,6152 is connected to include the joint motions of globe joint assembly Controlling layout 6160, described globe joint assembly is a part for joint motions actuating device 6142.More particularly and combine Figure 134, globe joint assembly 6160 is included in the spherical component 6162 that the portions of proximal of proximal spine 6110 is formed.Joint motions control Ring 6164 processed is movably supported on spherical component 6162.As Figure 134 is further illustrated, articulation cable 6144,6146, 6150,6152 proximally by corresponding globe joint arrange 6166 be connected to joint motions control ring 6164.Joint motions control Ring 6164 processed is driven assembly 6170 to control by joint motions.Especially as shown in Figure 134, by the first articulation cable 6144, The near-end of 6146 is attached to joint motions at 1: 6149,6151 that the corresponding interval being positioned in plane 6159 is opened and controls ring 6164.Equally, the near-end of second joint motion cable 6150,6152 is opened in the corresponding interval arranged also along plane 6159 It is attached to joint motions at second point 6153,6155 and controls ring 6164.With continued reference to this detailed description of the invention, this area common Technical staff it will be appreciated that when joint motions control ring 6164 by joint motions drive assembly 6170 handle time, joint motions control This type of cable attachment configuration on ring 6164 processed be conducive to required in the range of joint motions action.

In various forms, joint motions drive assembly 6170 to include flapping articulation moving parts (commonly referred to as 6171). In at least one form, flapping articulation moving parts 6171 includes that being attached to horizontal gear arranges the Level Promoting cable of 6180 6172.Joint motions drive assembly 6170 also to include vertical joint motions assembly (commonly referred to as 6173).In at least one form In, vertical joint motions assembly 6173 includes the vertically promotion cable 6174 being attached to vertical arrangement of gears 6190.Such as Figure 133 and Shown in 134, Level Promoting cable 6172 extends through the gripper shoe 6167 being attached to proximal spine segment 6110.Level Promoting cable The far-end of 6174 is attached to joint motions by the most spherical/pivot fitting 6168 and controls ring 6164.Vertically promote cable 6174 extend through gripper shoe 6167, and its far-end is attached to joint motions control by the most spherical/pivot fitting 6169 Ring 6164 processed.

Horizontal gear arranges the 6180 horizontal driven gears 6182 including being pivotally mounted on trunnion axis 6181, described water Flat axle is attached to the portions of proximal of proximal spine segment 6110.It is driven that the near-end of Level Promoting cable 6172 is attached pivotally to level Gear 6182 so that when horizontal driven gear 6172 rotates around horizontal pivot axis line HA, Level Promoting cable 6172 applies First is pivotally moved to joint motions controls ring 6164.Equally, vertical arrangement of gears 6190 includes vertical driven gear 6192, institute State vertical driven gear to be pivotally supported in the vertical axes 6191 of the portions of proximal attachment with proximal spine segment 6110, in order to enclose Pivot around vertical pivot axis VA and advance.The near-end of cable 6174 is vertically promoted to be attached pivotally to vertical driven gear 6192, Make when vertical driven gear 6192 rotates around vertical pivot axis VA, vertically promote cable 6174 to apply the second pivot fortune Move joint motions and control ring 6164.

Horizontal driven gear 6182 and vertical driven gear 6192 by operationally with joint motions shift unit assembly The joint motions gear train 6300 of 6320 handing-over drives.In at least one form, joint motions shift unit assembly includes joint Motion transmission gear 6322, described joint motions travelling gear is connected on the adapter side 1307 of tool mounting plate 6202 accordingly Clutch plate or drive element 1304 in one.See Figure 28.Therefore, when interface 1230 is connected to tool rack 1270, will Rotary input motion from robot system 1000 is applied to corresponding drive element 1304 by tool drives assembly 1010 On, thus the rotation of joint motions travelling gear 6322 will be caused.Joint motions driven gear 6324 is attached to rotatably The spline shift unit axle 6330 being supported on tool mounting plate 6202.Joint motions driven gear 6324 and joint motions transmission Gear 6322 engages, as shown in the figure.Therefore, the rotation of joint motions travelling gear 6322 will cause the rotation of axle 6330.Respectively In the form of kind, shift unit driven gear assembly 6340 is movably supported in the splined section 6332 of shift unit axle 6330.

In various embodiments, shift unit driven gear assembly 6340 includes the driven displacement being attached to shift unit plate 6344 Device gear 6342.Shift unit plate 6344 operationally joins with shift unit solenoid component 6350.Shift unit solenoid component 6350 are attached to corresponding pin 6352 by conductor 6352.See Figure 133.Pin 6352 is oriented to and the instrument of adapter 1240 Slit 1258(Figure 27 on side 1244) electric connection.This arranges for shift unit solenoid component 6350 is electrically coupled to robot Controller 1001.Therefore, the actuating of shift unit solenoid 6350 will make shift unit axle as shown in the arrow " S " in Figure 133 and 134 Shift unit driven gear assembly 6340 in the splined section 6332 of 6330 offsets.Joint motions gear train 6300 various Embodiment also includes that horizontal gear assembly 6360, described horizontal gear assembly include being arranged on the instrument that is rotatably attached to and install The first horizontal conveyor gear 6362 on the axle 6361 of plate 6202.First horizontal conveyor gear 6362 with the second horizontal conveyor tooth Take turns the mode of 6364 engagements and support.As shown in Figure 134, horizontal driven gear 6182 is remote with the second horizontal driven gear 6364 Lateral parts 6365 engages.

The various embodiments of joint motions gear train 6300 also include vertical gear assembly 6370, described vertical gear assembly Including the vertical travelling gear 6372 of first be arranged on the axle 6371 being pivotally supported on tool mounting plate 6202.First Vertically travelling gear 6372 is supported, the second horizontal conveyor gear in the way of engaging with the second vertical travelling gear 6374 6364 are supported with one heart with the described second vertical travelling gear.Second vertical travelling gear 6374 is pivotally supported at nearside To advance around it on ridge part 6110.Second horizontal conveyor gear 6364 is pivotally supported at the described second vertical travelling gear To rotate traveling the most thereon in the part of 6374.As shown in Figure 134, vertical driven gear 6192 and second vertically from The distal face part 6375 of moving gear 6374 engages.

In various forms, the first horizontal conveyor gear 6362 has the first diameter and the first vertical travelling gear 6372 There is Second bobbin diameter.As shown in Figure 133 and 134, axle 6361 and axle 6371 be not in common axis.That is, the first horizontal driven tooth Wheel 6362 and the first vertical driven gear 6372 are not about common axis and rotate.Therefore, in shift unit gear 6342 is arranged on The heart " locks " position and shift unit gear 6342 is nibbled with the first horizontal driven gear 6362 and the first vertical travelling gear 6372 During conjunction, the parts of articulation system 6140 are locked into position.Therefore, movable shift unit gear 6342 and first is horizontally and vertically The layout of travelling gear 6362,6372 and joint motions shift unit assembly 6320 can be collectively referred to as joint motions locking system ( As be referred to as 6380).

In use, the robot controller 1001 of robot system 1000 can be by controlling articulation system as follows 6140.In order to make end effector 6012 carry out joint motions, machine to the left around the first tool joints axis of movement TA1-TA1 People's controller 1001 actuated displacement device solenoid component 6350, so that shift unit gear 6342 and the first horizontal conveyor gear 6362 Engagement.Then, controller 1001 applies the first rotary output motion to joint motions travelling gear 6322, with in a first direction Drive shift unit gear, thus finally drive up horizontal driven gear 6182 in another first party.Drive horizontal driven tooth Wheel 6182 is to pivot the joint motions ring 6164 on spherical part 6162, thus tractive upper right quarter cable in proximal direction " PD " 6144 and right lower quadrant cable 6146.In order to make end effector 6012 to the right around the first tool joints axis of movement TA1-TA1 Carry out joint motions, robot controller 1001 actuated displacement device solenoid component 6350, so that shift unit gear 6342 and One horizontal conveyor gear 6362 engages.Then, controller 1001 applies the first rotary output motion in the opposite direction to joint Motion transmission gear 6322, to drive shift unit gear 6342 in a second direction, thus final in another second direction Drive horizontal driven gear 6182.This action makes joint motions control ring 6164 move in this way, with at proximal direction " PD " Upper tractive upper left quarter cable 6150 and lower left quarter cable 6152.In various embodiments, when levels of actuation gear assembly 6360, The gear produced between the gear of vertical gear assembly 6370 is used for preventing the rotation of vertical driven gear 6192 than with frictional force Turn.

In order to make end effector 6012 carry out in an upward direction around the second tool joints axis of movement TA2-TA2 Joint motions, robot controller 1001 actuated displacement device solenoid component 6350, so that shift unit gear 6342 and first erects Direct-transmission gear 6372 engages.Then, controller 1001 applies the first rotary output motion to joint motions travelling gear 6322, To drive shift unit gear 6342 in a first direction, thus finally drive up vertical driven gear in another first party 6192.Drive vertical driven gear 6192 to pivot the joint motions ring on the spherical part 6162 of proximal spine segment 6110 6164, thus at the upper tractive upper right quarter cable 6144 of proximal direction " PD " and upper left quarter cable 6150.In order to around the second instrument Joint motions axis TA2-TA2 makes end effector 6012 carry out joint motions, robot controller in a downward direction 1001 actuated displacement device solenoid components 6350, so that shift unit gear 6342 vertically drives gear 6372 to engage with first.So After, controller 1001 applies the first rotary output motion in the opposite direction to joint motions travelling gear 6322, with second Side drives up shift unit gear 6342, thus finally drives up vertical driven gear 6192 in another second party.Thus This action makes joint motions control ring 6164 at the upper tractive right lower quadrant cable 6146 of proximal direction " PD " and lower left quarter cable 6152. In various embodiments, when activating vertical gear assembly 6370, the tooth produced between the gear of horizontal gear assembly 6360 Wheel is used for preventing the rotation of horizontal driven gear 6182 than with frictional force.

In various embodiments, multiple sensors can connect with robot controller 1001, to determine end effector The articulated position of 6012.Such as, sensors with auxiliary electrode can join with actuated articulation joints 6100 or be positioned at tool mounting portion In 6200.It is, for example possible to use sensor controls with the joint motions on the spherical part 6162 of detection proximal spine segment 6110 The position of ring 6164.From sensor to controller 1001 this type of feedback allow controller 1001 regulate joint motions driving cog The rotation amount of wheel 6322 and the direction of rotation output.It addition, as it has been described above, when shift unit travelling gear 6342 be centrally located into When first horizontal conveyor gear 6362 and the first vertical travelling gear 6372 engage, end effector 6012 is locked in joint fortune Dynamic position.Therefore, it is thus achieved that after required amount of articulation, controller 1001 actuatable shift unit solenoid component 6350, with Shift unit gear 6342 is made to engage with the first horizontal conveyor gear 6362 and the first vertical travelling gear 6372.Alternative In embodiment, can be by spring-actuated for shift unit solenoid component 6350 to overcenter lock position.

In use, it is probably favourable around longitudinal tool axis LT-LT rotary surgical end effector 6012.Extremely In a few embodiment, the transmission arrangements 6204 on tool mounting portion includes the transmission assembly 6400 rotated, described rotation The transmission assembly turned is able to receive that the corresponding rotary output motion of the tool drives assembly 1010 from robot system 1000, And this rotary output motion is changed into Spin Control motion, so that slender axles assembly 6008(and surgical end-effector 6012) Rotate around longitudinal tool axis LT-LT.In various embodiments, such as, the proximal part 6041 of proximal closure tube 6040 leads to Cross supporting support 6205 and the Guan Bi sliding part 6510 that is also movably supported on tool mounting plate 6202 and rotating forward Be supported on the tool mounting plate 6202 of tool mounting portion 6200.In at least one form, the transmission assembly of rotation 6400 include that pipe gear segment 6402, described pipe gear segment are formed on the near-end 6041 of (or being attached to) proximal closure tube 6040, It is operatively engaged with the swing pinion assembly 6410 by being operatively supported on tool mounting plate 6202.Such as Figure 133 institute Showing, at least one embodiment, swing pinion assembly 6410 includes rotary transmission gear 6412, when tool mounting portion 6200 When being connected to tool drives assembly 1010, described rotary transmission gear is connected on the adapter side 1307 of tool mounting plate 6202 In corresponding clutch plate or drive element 1304 second.See Figure 28.Swing pinion assembly 6410 also includes the first rotation Driven gear 6414, described first rotary drive gear is pivotally supported in the way of engaging with rotary transmission gear 6412 On tool mounting plate 6202.First rotary drive gear 6414 is attached to be pivotally supported on tool mounting plate 6202 Drive shaft 6416.Second rotary drive gear 6418 is attached to drive shaft 6416, and with the pipe tooth on proximal closure tube 6040 Wheel section 6402 engages.Second rotary output motion of the tool drives assembly 1010 from robot system 1000 is applied to phase The drive element 1304 answered, thus the rotation of rotary transmission gear 6412 will be caused.The rotation of rotary transmission gear 6412 is final Cause slender axles assembly 6008(and surgical end-effector 6012) rotate around longitudinal tool axis LT-LT.Should be appreciated that Apply on one direction to cause slender axles assembly 6008 and surgery end from the rotary output motion of tool drives assembly 1010 Portion executor 6012 rotates in a first direction around longitudinal tool axis LT-LT, and applies in an opposite direction to rotate Output motion will cause slender axles assembly 6008 and surgical end-effector 6012 in a second direction opposite the first direction Rotate.

In at least one embodiment, by making slender axles assembly 2008 along distal direction " DD " on ridge assembly 2049 Closing section axially-movable realize the anvil block 2024 Guan Bi relative to nail bin 2034.As it has been described above, in various embodiments, The proximal part 6041 of proximal closure tube 6040 is supported by Guan Bi sliding part 6510, and described Guan Bi sliding part includes closing transmission dress Put the part of (being generally described as 6512).As shown in Figure 133, the proximal part 6041 of proximal closure tube portion 6040 has The lining ring 6048 formed on it.Guan Bi sliding part 6510 by the yoke that engages with the ring-shaped groove 6049 in lining ring 6,048 6514 and Lining ring 6048 couples.This arranges and is used for making lining ring 6048 around longitudinal work while keeping coupling with Guan Bi actuating device 6512 Tool axis LT-LT rotates.In various embodiments, Guan Bi sliding part 6510 has upstanding portion 6516, and described upstanding portion has There is the Guan Bi rack pinion 6518 being formed on.Guan Bi rack pinion 6518 can drive with Guan Bi gear assembly 6520 and connect Close.See Figure 133.

In various forms, Guan Bi gear assembly 6520 includes closing spur gear 6522, and described Guan Bi spur gear is connected to In corresponding clutch plate or drive element 1304 second on the adapter side 1307 of tool mounting plate 6202.See Figure 28. Therefore, when tool mounting portion 6202 is connected to tool drives assembly 1010, will drive from the instrument of robot system 1000 3rd rotary output motion of dynamic assembly 1010 is applied on corresponding second drive element 1304 to cause Guan Bi spur gear The rotation of 6522.Guan Bi gear assembly 6520 also includes the side to engage with Guan Bi spur gear 6522 and Guan Bi rack pinion 2106 Formula and the Guan Bi train of reduction gears 6524 that supported.Therefore, by the tool drives assembly 1010 from robot system 1000 3rd rotary output motion is applied to corresponding second drive element 1304 will cause Guan Bi spur gear 6522 and Guan Bi transmission dress Put the rotation of 6512, and final axially driving Guan Bi sliding part 6510 and proximal closure tube on proximal spine segment 6110 6040.The direction axially ultimately depending on the 3rd drive element 1304 rotation of proximal closure tube 6040 motion.Such as, to from machine The rotary output motion that the tool drives assembly 1010 of device people's system 1000 receives responds, will be at distal direction " DD " Upper driving closes sliding part 6510 and finally at distal direction " DD " upper driving proximal closure tube 6040.Present dynasty distally drives near During the Guan Bi pipe 6040 of side, by itself and the connection of proximal closure tube 6040, also drive distal closure tube 6042 towards distally.Present dynasty is remote When side drives distal closure tube 6042, the end of Guan Bi pipe 6042 will engage a part for anvil block 6024 and makes anvil block 6024 pivot To make position.When applying " opening " output motion of the tool drives assembly 1010 from robot system 1000, will be Guan Bi sliding part 6510 and proximal closure tube 6040 is driven along proximal direction " PD " on proximal spine segment 6110.When in nearside side When " PD " upper driving proximal closure tube 6040, also will be at proximal direction " PD " upper driving distal closure tube 6042.When at nearside During the upper driving distal closure tube 6042 of direction " PD ", opening 6045 therein interacts with the protuberance 6027 on anvil block 6024 It is beneficial to it open.In various embodiments, when distal closure tube 6042 moves to its original position, spring can be used (not Illustrate) so that anvil block 6024 is biased to open position.In various embodiments, the chi of the various gears of Guan Bi gear assembly 6520 Very little being set to can produce required necessary closing force, and described closing force is cut by surgical end-effector 6012 treating satisfactorily The tissue Guan Bi anvil block 6024 cutting and sewing up.Such as, Guan Bi actuating device 6520 gear be dimensioned so as to produce The closing force of about 70-120 pound.

In various embodiments, cutting device is driven to pass surgical end-effector 6012 by knife bar 6530.See figure 133.In at least one form, knife bar 6530 is made up of joint arrangement (not shown) and/or is made up of following material: described material Expect to be suitable for surgical end-effector 6102 while keeping enough rigidity around the first tool joints axis of movement and the Two tool joints axis of movements and the joint motions that carry out, be clamped in surgical end-effector 6012 to promote cutting device to pass In tissue.Knife bar 6530 extends through the hollow passage 6532 in proximal spine segment 6110.

In various embodiments, the near-end 6534 of knife bar 6530 is pivotally attached on cutter rack pinion 6540 so that Knife bar 6530 rotates freely relative to cutter rack pinion 6540.The far-end of knife bar 6530 is attached to sickle in above-mentioned various modes Tool.As shown in Figure 133, cutter rack pinion 6540 is slidably supported at the rack housing 6542 being attached to tool mounting plate 6202 In so that cutter rack pinion 6540 keeps the cutter with transmission arrangments 6204 to drive mission part 6550 to engage.In various realities Executing in example, cutter drives mission part 6550 to include cutter tooth wheel assembly 6560.More particularly and combine Figure 133, at least In one embodiment, cutter tooth wheel assembly 6560 includes that cutter spur gear 6562, described cutter spur gear are connected to tool mounting plate 6202 Adapter side 1307 in corresponding clutch plate or drive element 1304 the 4th.See Figure 28.Therefore, will be from machine Another rotary output motion of people's system 1000 is applied to corresponding 4th drive element 1304 by tool drives assembly 1010 The rotation of cutter spur gear 6562 will be caused.Cutter tooth wheel assembly 6560 also includes cutter train of reduction gears 6564, described cutter reduction gearing Group includes the first cutter driven gear 6566 and the second cutter travelling gear 6568.Cutter train of reduction gears 6564 is rotatably mounted to work On tool installing plate 6202 so that the first cutter driven gear 6566 engages with cutter spur gear 6562.Equally, the second cutter travelling gear 6568 engage with the 3rd cutter driving gear component 6570.As shown in Figure 133, the second cutter driven gear 6568 and the 3rd cutter driving cog 4th cutter driven gear 6572 of wheel assembly 6570 engages.4th cutter driven gear 6572 and the 5th cutter driven gear assembly 6574 Engagement, described 5th cutter driven gear assembly engages with cutter rack pinion 6540.In various embodiments, cutter tooth wheel assembly 6560 Being dimensioned so as to produce and drive cutting device through being clamped in the tissue in surgical end-effector 6012 also of gear Activate the power needed for nail therein.Such as, the size of the gear of cutter tooth wheel assembly 6560 can be set to and can produce about 40- The driving force of 100 pounds.Should be appreciated that the rotary output motion applied in one direction from tool drives assembly 1010 will draw Play cutting device axially-movable in a distal direction, and applying rotary output motion will cause sickle in an opposite direction Tool axially-movable in a proximal direction.

It is appreciated that surgical technique and tools 6000 represents being greatly improved that existing robot tool is arranged by described above. Uniqueness that surgical technique and tools 6000 uses and novel transmission arrangements make this instrument only be operably linked to have four rotations Transfer out the tool rack part 1010 of the robot system of main body, additionally from its obtain rotary output motion with: (i) is around substantially On laterally and two different joint motions axis transverse to longitudinal tool axis make end effector close Joint motion；(ii) around longitudinal tool axis rotary end executor 6012；(iii) relative to surgery nail bin 6034 in various degree Ground Guan Bi anvil block 6024 so that end effector 6012 can be used in manipulating tissue be then clamped to appropriate location for Cutting and stitching；And (iv) percussion cutting device is clamped in the tissue in end effector 6012 with cutting.The invention described above Unique and novel shift unit layout of various embodiments make two kinds of different joint motions actions from robot system Single rotation main part obtain power.

Already in connection with cutting-type surgical instruments, various embodiments of the present invention are described above.But, it should refer to Going out, in other embodiments, the surgical instruments of present invention disclosed herein is not necessarily cutting-type surgical instruments, but can quilt In any kind of surgical instruments including remote sensor transponder.Such as, it can be non-cutting endoscope type apparatus, firmly grasp Device, stiching instrument, applicator, entrance device, medicine/gene are treated delivery apparatus, are utilized the energy of ultrasound wave, radio frequency, laser etc. Device.Additionally, the present invention can be such as abdominal cavity mirror apparatus.The present invention also can be at traditional endoscope type and open surgical device The operation of tool and robot assisted is applied.

Figure 135 shows to combine have the surgical technique and tools 7000 of super sound-powered end effector 7012 and use the present invention's The various aspects of some embodiment.End effector 7012 is operably attached to tool mounting-portion by slender axles assembly 7008 Divide 7100.Described tool mounting portion 7100 can be substantially similar to various tool mounting portion mentioned above.A reality Executing in example, end effector 7012 includes super sound-powered associated jaw portion 7014, and described super sound-powered associated jaw portion is by exchanging Electricity or unidirectional current provide power in a known way.This type of super sound-powered device is at the most entitled " Robotic Surgical Tool With Ultrasound Cauterizing and Cutting Instrument " United States Patent (USP) 6,783,524 in Open, the complete disclosure of this patent is hereby incorporated herein by.In the illustrated embodiment, it is shown that individually power supply Line 7020.It will be appreciated, however, that power can be provided from robot controller 1001 to it by tool mounting portion 7100.Outward Section's end effector 7012 also includes the moveable jaws 7016 that can be used for being clamped to by tissue in ultrasonic associated jaw portion 7014.Permissible Any one in various mode as herein described optionally activates moveable jaws part by robot controller 1001 7016 pass tool mounting portion 7100.

Figure 136 shows to combine have the surgical technique and tools 8000 of the end effector 8012 including linear suture device and make By the various aspects of certain embodiments of the present invention.End effector 8012 is by the above-mentioned type and the slender axles assembly of structure 3700 are operably attached to tool mounting portion 8100.But, end effector 8012 can by as herein described various its He is attached to tool mounting portion 8100 by slender axles assembly.In one embodiment, tool mounting portion 8100 can substantially class It is similar to tool mounting portion 3750.But, it be also possible to use other tool mounting portion various described in detail herein and they are each From transmission arrangements.This type of Linear repair pressure head part is also at the most entitled " Surgical Stapling Device With Staple Driver That Supports Multiple Wire Diameter Staples " United States Patent (USP) 7, Having disclosed in 673,781, the complete disclosure of this patent is hereby incorporated herein by.

Authorizing Shelton, the various sensors disclosed in U.S. Patent Publication 2011/0062212A1 of IV et al. are real Executing example can be used together with many surgical technique and tools embodiments disclosed herein, the disclosure of which is in full to quote Mode is expressly incorporated herein.As it has been described above, master controller 1001 generally includes master controller (being typically expressed as 1003), surgeon While observing operation by three-dimensional display 1002, described master controller by surgeon's grasping and aloft manipulates.See Fig. 1.Master controller 1001 is manual input device, and it preferably moves with multiple degree of freedom, and is generally also provided with for causing The actuating shank of dynamic surgical technique and tools.Surgical technique and tools embodiments more disclosed herein use one in its tool drives part Or multiple motor, think that tool end executor provides various and controls motion.This type of embodiment also can be from robot system parts Employed in motor arrangement in obtain other control campaign.Other embodiments disclosed herein are in robot system Motor arrangement in obtain whole control campaigns.

Without departing from the spirit and scope of the present invention, this type of motor power is arranged and can be used various sensor cloth Putting, described transducer arrangements is announced in the above-mentioned U.S. Patent application quoted and is thought that surgeon provides the anti-of various ways Feedback.Such as, those master controllers manually activating percussion trigger are used to arrange that 1003 can use motor running sensor (not show Go out), think that surgeon provides and is applied to cutting element or the relevant feedback of the size of power born by it.Motor running passes Sensor can connect with percussion trigger part, so that when detection percussion trigger part activates cuts by end effector Cut/sew up operation.Motor running sensor can be proportional sensor, such as rheostat or rheostat.When percussion triggers When device is furthered, sensor detects this motion, concurrent electric signals, and the instruction of the described signal of telecommunication is supplied to the voltage of corresponding motor (or power).When sensor is rheostat etc., the rotating speed of motor can be generally proportionate with the quantity of motion of percussion trigger. That is, if the only a small amount of tractive of operator or Guan Bi percussion trigger, then the rotating speed of motor is relatively low.When the percussion that furthers completely Trigger (or in the fully closed position) time, the rotating speed of motor is its maximum.In other words, surgeon more firmly leads Draw percussion trigger, then the voltage being applied on motor is the biggest, thus rotating speed is the biggest.Other layouts can be that surgeon carries For feedback meter 1005 the visually indicating of size that provide power for surgeon, described feedback meter can be seen by display 1002 Examine, and the size that the size of described power is the power being applied to cutting device or dynamic clamping component.Other transducer arrangements can For providing instruction for master controller 1001, to indicate nail bin to be the most loaded in end effector, whether anvil block in percussion Have moved to make position etc. before.

In alternative embodiment, the interface of motor control, described controller root can be used in conjunction with controller 1001 The load (e.g., clamping force, cutting force etc.) born according to surgical end-effector limits the trigger traction force of maximum.Such as, It is more difficult to drive cutting device through the tissue being clamped in end effector, is then more difficult to tractive/actuating percussion trigger.At other In embodiment, the trigger on controller 1001 is arranged so that trigger tractive position and end effector positions/conditions Quite.Such as, trigger is only pressed completely when firing end effector completely.

Can i.e. process after being designed as being intended for single use by device disclosed in this invention, or can they be designed as can It is used for multiple times.But, in either case, described device all can be repaired, to reuse after using at least one times. Again the combination in any that can comprise the steps is repaired: dismantle this device, then clean or replace some part and group subsequently Dress.Particularly, described device can be dismantled, and it is any number of the most optionally to replace or remove this device Specific component or part.Clean and/or after displacement specific part, this device can re-assembly so that subsequently at restoration facilities Use, or will be re-assemblied by surgical team before carrying out surgical operation.Those skilled in the art is it will be appreciated that fill That puts repairs the available multiple technology for dismantling, clean/replace and re-assemblying.The use of these technology and gained Prosthetic device is within the scope of the present invention.

Although describing the present invention already in connection with some disclosed embodiment herein, but can those embodiments be performed many Plant amendment and modification.Such as, different types of end effector can be used.The material for some parts is disclosed it addition, every The situation of material all can use other materials.Foregoing description and following claims are intended to all such modification and change Type.

Any patent, announcement or other the open materials in full or being partly expressly incorporated herein with way of reference the most only also The material entered is not expressly incorporated herein with in existing definition of the present invention, statement or other open afoul scopes of material.By This, under necessary degree, replacement is incorporated by reference any phase punching herein by the disclosure herein explicitly illustrated Prominent material.If according to state be incorporated by reference herein but with existing definition as herein described, statement or other open materials Afoul any material or its part, only do not produce the degree of conflict between the material comprised and existing open material Under be expressly incorporated herein.

Claims (20)

1. a surgical instruments, including:

Executable portion, robot system the percussion campaign being applied thereto is responded by described executable portion, described execution Part includes:

Elongated passageway, described elongated passageway can be attached to the slender axles that operationally join with described robot system and wrap Include passage slot,

Nail bin, described nail bin is accommodated and comprises proximally-oriented tapered member, described tapered member quilt by described elongated passageway It is arranged in the driver of upwards jack-up support nail,

Anvil block, described anvil block is pivotally coupled to described elongated passageway and includes anvil channel, and described anvil channel includes edge Vertical slit that the longitudinal axis of described anvil block inwardly opens and include left rectangular prism configuration groove and right rectangular prism configuration Groove, described left rectangular prism configuration groove connects with described vertical slit with right rectangular prism configuration groove, by described vertical slit To dividing and transverse to described vertical slit, wherein said left rectangular prism configuration groove and right rectangular prism configuration groove substantially edge The longitudinal length described vertical slit extends,

Percussion lock, described percussion lock include the cutting blade that distally is arranged, described cutting blade longitudinally receive in described elongated passageway and Between the described vertical slit of the anvil channel of described anvil block,

Upper component, described upper component is made up of left upper portion pin and right upper portion pin, on described left upper portion pin and right side What portion sold is dimensioned so as to be sliding engaged the described left rectangular recess of described anvil channel and the top of right rectangular recess Inner surface and lower inner surface,

Lower member, described lower member engages described passage slot, and

Intermediate member, described intermediate member is operable to by making the described tapered member of described nail bin cause towards distal translation Dynamic described nail bin, described percussion lock is securely engaged described elongated passageway and described anvil block two in longitudinally percussion traveling process Person, follows closely shaping to provide spacing to be used between the two, and wherein the joint of described percussion lock keeps described during percussion Vertical spacing between elongated passageway and described anvil block, thus the deflation that causes owing to the tissue of clamping is not enough of opposing and by The partially opening of causing in the tissue excess clamped.

Surgical instruments the most according to claim 1, wherein said anvil block is formed with described elongated passageway and is biased inwardly the relation of putting, Described inside bias relation can assist in the actuation process of described nail bin described percussion lock by described anvil block and described carefully Long-channel is the most spaced apart.

Surgical instruments the most according to claim 2, also includes enclosed member, and described enclosed member operationally can will close Resultant motion is longitudinally transferred to described executable portion, inwardly to bias described anvil block and the far-end of described elongated passageway, thus in institute State and the actuation process of nail bin is assisted described percussion lock by the most spaced apart to described anvil block and described elongated passageway.

Surgical instruments the most according to claim 1, wherein said nail bin is the selected type in multiple nail bin type, every kind Nail bin type is characterised by the thickness selected for the desired spacing between described anvil block and elongated passageway, and feature exists In the nail with the length being applicable to described desired spacing.

Surgical instruments the most according to claim 4, wherein said tapered member includes wedge-shaped slides, and described wedge shape is slided Part has the jack-up wedge of multiple connection, and each wedge has the pre-selected height of the selected type that can be used in nail bin, The described intermediate member of described percussion lock each of is oriented in described multiple nail bin type.

6. a surgical instruments, including:

Executable portion, the firing action from the robot system connected with described executable portion is rung by described executable portion Answering, and size is diametrically set for endo-surgical purposes, described executable portion includes:

Elongated passageway, described elongated passageway is connected to slender axles and includes passage slot, described slender axles and described robot System operationally joins；

Anvil block, described anvil block is pivotally coupled to described elongated passageway and includes anvil channel, and described anvil block is to by described machine Device people's system generates and is applied to the closing motion of described anvil block to respond by described slender axles, and

Percussion lock, described percussion lock includes what the distally longitudinally receiving between described elongated passageway and described anvil block was arranged Cutting blade, described percussion lock can during being longitudinally travelled between described anvil block and elongated passageway by described anvil block with described Elongated passageway is the most spaced apart, and wherein said percussion lock can be by including that upper component leads to elongated at described anvil block During being longitudinally travelled between road described anvil block is the most spaced apart with described elongated passageway, described upper component has The upper and lower surface of described anvil block it is slidably engaged in longitudinal direction.

Surgical instruments the most according to claim 6, also includes that nail bin, described nail bin are engaged by described elongated passageway and wrapped Including the slit proximally opened for accommodating the described cutting blade of described percussion lock, described nail bin includes by described percussion dress The distally lengthwise movement put and by multiple nails of upwards jack-up.

Surgical instruments the most according to claim 7, wherein said nail bin also includes wedge-shaped slides and supports the plurality of Multiple drivers of nail, described wedge-shaped slides in response to the described distally lengthwise movement of described percussion lock with upwards jack-up institute State driver, thus head on described anvil block and make the plurality of nail shape.

Surgical instruments the most according to claim 7, wherein said anvil block is formed with described elongated passageway and is biased inwardly the relation of putting, Described inside bias relation can assist described percussion lock that described anvil block is logical with elongated in the actuation process of described nail bin Road is the most spaced apart.

Surgical instruments the most according to claim 8, wherein said nail bin is the selected type in multiple nail bin type, often Plant the thickness that nail bin type is characterised by selecting, and feature for the desired spacing between described anvil block and elongated passageway It is the nail with the length being applicable to described desired spacing.

11. surgical instrumenties according to claim 10, wherein said wedge-shaped slides includes the jack-up wedge of multiple connection Shape part, each jack-up has the pre-selected height of the selected type that can be used in nail bin, the centre of described percussion lock by wedge Component each of is oriented in described multiple nail bin type.

12. surgical instrumenties according to claim 6, wherein said anvil block includes that the longitudinal direction with upper and lower surface is narrow Groove, described upper and lower surface is respectively the most slidably against the described lower surface of described upper component of described percussion lock and upper Surface.

13. surgical instrumenties according to claim 12, wherein said longitudinal slit includes connecting with the vertical slit narrowed Inner longitudinal passage, and wherein said percussion lock translates in the described vertical slit narrowed and includes having described The upper component of upper and lower surface, it is interior for by institute that described upper and lower surface resides in described inner longitudinal passage State anvil block the most spaced apart with described elongated passageway.

14. surgical instrumenties according to claim 6, wherein said percussion lock can be by including bottom and at described anvil Seat is the most spaced apart with described elongated passageway by described anvil block with during being longitudinally travelled between elongated passageway, described bottom There is the upper and lower surface being sliding engaged described elongated passageway.

15. surgical instrumenties according to claim 14, the described bottom of wherein said percussion lock includes lower pin, described Lower pin has the described upper surface against described elongated passageway, and includes intermediate pin, and described intermediate pin has and relatively supports Described lower surface by described elongated passageway.

16. surgical instrumenties according to claim 15, wherein said percussion lock also includes upper component, described top structure Part has the upper and lower surface being slidably engaged described anvil block in the vertical.

17. surgical instrumenties according to claim 16, wherein said anvil block includes the inside with the vertical slit narrowed Longitudinal slit, and wherein said percussion lock translate in the described vertical slit narrowed and include having upper surface and under The upper component on surface, it is interior for by described anvil block and institute that described upper and lower surface resides in described internal longitudinal slit State elongated passageway the most spaced apart.

18. 1 kinds of surgical instrumenties, including:

Robot system, described robot system is operable to produce the multiple control motions including percussion motion；With

Executable portion, the described percussion campaign from described robot system is responded by described executable portion, described execution Part includes:

Elongated passageway, described elongated passageway is connected to described robot system and includes passage slot；

Nail bin, described nail bin is accommodated and comprises proximally-oriented tapered member by described elongated passageway, and described tapered member is arranged Arrange into the driver of upwards jack-up support nail；

Anvil block, described anvil block is pivotally coupled to described elongated passageway and includes anvil channel；

Percussion lock, described percussion lock includes what the distally longitudinally receiving between described elongated passageway and described anvil block was arranged Cutting blade；

The upper component of described anvil channel can be joined to；

Engage the lower member of described passage slot；

Intermediate member, described intermediate member is operable to by making the described tapered member of described nail bin cause towards distal translation Dynamic described nail bin, described percussion lock is securely engaged described elongated passageway and described anvil block two in longitudinally percussion traveling process Person, follows closely shaping to provide spacing to be used between the two；

The actuated articulation joints of described elongated passageway it is connected at nearside；With

Thinning percussion bar, described percussion bar is at proximal attachment to described percussion lock, for will be from system of described robot The described percussion of system moves through the transmission of described actuated articulation joints.

19. surgical instrumenties according to claim 18, wherein said anvil block forms pivotal attachment, institute with described elongated passageway State pivotal attachment inwardly to bias at respective distal end, to assist described percussion lock by described in the actuation process of described nail bin Anvil block is the most spaced apart with elongated passageway.

20. surgical instrumenties according to claim 18, wherein said nail bin is the selected type in multiple nail bin type, often Plant the thickness that nail bin type is characterised by selecting, and feature for the desired spacing between described anvil block and elongated passageway It is the nail with the length being applicable to described desired spacing.